Designing robust model reference hybrid fuzzy controller based on LYAPUNOV for a class of nonlinear systems

摘要

This study intends to investigate a new control structure using a robust model reference hybrid fuzzy controller. The main aim of the present study is to improve the transient response of the system subject to uncertainty meanwhile guaranteeing the stability of whole system. The control signal includes fuzzy, classic and robust terms. Hereby, by using an appropriate LYAPUNOV function the adaptation laws of the parameters of fuzzy and robust controller are derived and also, asymptotic stability of whole system is proved. As well, a novel adaptive method based on stability theorem is introduced to obtain the reasonable gains for classic controller. To show the efficiency of the suggested controlling approach, the simulation is applied on inverted pendulum, magnetic levitation and DC servo motor systems. The results reveal the proper and acceptable performance of the presented method. Finally, using the root mean square error (RMSE) criterion it is shown that transient response of system is improved compared to that of the classic controller in which the control signal is not included.