Title: Adaptive control of a class of nonlinear systems with fuzzy approximators: an application to longitudinal vehicle control

Authors: Xiaohui Dai, C.K. Li, A.B. Rad

Addresses: Department of Electronic and Information Engineering, The Hong Kong Polytechnic University, Hong Kong SAR, China. ' Department of Electronic and Information Engineering, The Hong Kong Polytechnic University, Hong Kong SAR, China. ' School of Engineering Science, Simon Fraser University, Surrey, B.C. V3T 0A3, Canada

Abstract: We employ a direct adaptive fuzzy controller that approximates an ideal optimal controller. A linear relationship between approximation error and parameters is established in order to tune all the parameters online. Subsequently, adaptive laws are proposed based on the Lyapunov synthesis approach. The advantage of the proposed method is that the parameters of the consequences of fuzzy rules as well as those of the membership functions are tuned. As a result, a stable and flexible controller is achieved. The performance of the adaptive scheme is demonstrated through the simulation studies of a longitudinal vehicle control system.

Keywords: fuzzy control; adaptive control; longitudinal vehicle control; nonlinear systems; fuzzy approximators; optimal control.

DOI: 10.1504/IJMMS.2009.024352

International Journal of Mechatronics and Manufacturing Systems, 2009 Vol.2 No.1/2, pp.135 - 149

Published online: 01 Apr 2009 *

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