Abstract
A novel online hybrid direct/indirect adaptive Petri fuzzy neural network (PFNN) controller with stare observer for a class of multi-input multi-output (MIMO) uncertain nonlinear systems is developed in the paper. By using the Lyapunov synthesis approach, the online observer-based tracking control law and the weight-update law of the adaptive hybrid intelligent controller are derived. According to the importance and viability of plant knowledge and control knowledge, a weighting factor is utilized to sum together the direct and indirect adaptive PFNN controllers. In this paper, we prove that the proposed online observer-based hybrid PFNN controller can guarantee that all signals involved are bounded and that the system outputs of the closed-loop system can track asymptotically the desired output trajectories. An example including four cases is illustrated to show the effectiveness of this approach.
Original language | English |
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Title of host publication | 2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012 |
Pages | 621-625 |
Number of pages | 5 |
Publication status | Published - 2012 |
Event | 2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012 - Tokyo, Japan Duration: 2012 Sep 18 → 2012 Sep 21 |
Other
Other | 2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012 |
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Country | Japan |
City | Tokyo |
Period | 2012/09/18 → 2012/09/21 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Mechanical Engineering