کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
758544 | 896437 | 2011 | 17 صفحه PDF | دانلود رایگان |

This paper proposes an observer based self-structuring robust adaptive fuzzy wave-net (FWN) controller for a class of nonlinear uncertain multi-input multi-output systems. The control signal is comprised of two parts. The first part arises from an adaptive fuzzy wave-net based controller that approximates the system structural uncertainties. The second part comes from a robust H∞ based controller that is used to attenuate the effect of function approximation error and disturbance. Moreover, a new self structuring algorithm is proposed to determine the location of basis functions. Simulation results are provided for a two DOF robot to show the effectiveness of the proposed method.
Research highlights
► A new type of FWN that is explained in [16] is applied.
► A new self-structuring method is proposed here.
► The proposed SRAFWN controller is designed for a class of MIMO systems.
► It is assumed that only output variables are measurable.
► The proposed controller can be converted to the adaptive wave-net controller.
Journal: Communications in Nonlinear Science and Numerical Simulation - Volume 16, Issue 9, September 2011, Pages 3798–3814