Online hybrid intelligent tracking control for uncertain nonlinear dynamical systems

Yi Hsing Chien, Wei Yen Wang, I. Hsum Li, Kuang Yow Lian, Kuang Yang Kou, Tsu Tian Lee

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publication2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012
Pages621-625
Number of pages5
Publication statusPublished - 2012
Event2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012 - Tokyo, Japan
Duration: 2012 Sep 182012 Sep 21

Other

Other2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012
CountryJapan
CityTokyo
Period12/9/1812/9/21

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Chien, Y. H., Wang, W. Y., Li, I. H., Lian, K. Y., Kou, K. Y., & Lee, T. T. (2012). Online hybrid intelligent tracking control for uncertain nonlinear dynamical systems. In 2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012 (pp. 621-625). [6329653]