DIRECT FUZZY ADAPTATION OF A FUZZY CONTROLLER

摘要

Sliding-mode fuzzy controllers are often used in an industrial environment because of their robustness. Nevertheless, the optimization of fuzzy controllers in general is difficult. By using fuzzy control principles for the definition of an adaptation algorithm, linguistically represented system knowledge as well as heuristic design principles can be considered and implemented in order to adapt the nonlinear input output characteristic of the sliding-mode fuzzy controller. The proposed linguistic adaptation strategy can be described analytically and classic Lyapunov theory is applied to prove convergence. Simulation results for an inverted pendulum with time-varying pendulum length illustrate the effectiveness of the adaptation algorithm.