Fuzzy predictor based L1 adaptive controller for nonlinear systems with disturbances

摘要

This work proposed a design of fuzzy predictor in L₁ adaptive control architecture for accurate estimation of nonlinearities, uncertainties, and time varying disturbances in case of nonlinear systems. In recent years L₁ adaptive controller received high attention to deal with the systems with uncertainties and disturbances while keeping high robustness. The proposed scheme replaces the existing state predictor of L₁ adaptive controller with fuzzy predictor, as unknown uncertainties, nonlinearities can be well approximated by fuzzy the rules. In addition to that the proposed control scheme adapted the uncertainties with fast transient response. Lyapunov stability theory has been employed to design the fuzzy adaptive rules and subsequent stability of the closed-loop system has also been studied. Simulation studies are presented to demonstrate the usefulness of the proposed fuzzy predictor based L₁ adaptive control scheme.