Direct adaptive self structuring fuzzy control with interpretable fuzzy rules for a class of nonlinear uncertain systems
In this paper, a direct adaptive self structuring fuzzy control (DASFC) scheme is proposed for tracking a class of nonlinear uncertain systems. In the DASFC, the ideal control law with unknown dynamics and uncertainties is approximated by a self structuring interpretable fuzzy system (SIFS) which can automatically self construct transparent fuzzy rules together with interpretable fuzzy sets projected in each dimension. Moreover, adaptive approximation error compensation and projection based adaptive laws for all free parameters not only to address the robustness issue due to the SIFS based approximation error, but also to guarantee globally asymptotical stability of the overall DASFC control system.
Neurocomputing