| Summary: | 碩士 === 逢甲大學 === 電子工程所 === 100 === In this paper, an observer-based adaptive fuzzy logic controller (FLC) with supervisor controller used to force the states to within constraint set is proposed for a class of unknown nonlinear dynamic systems. Owing to many sources of uncertainties which are translated into uncertainties about fuzzy set membership functions facing the FLC in dynamic real-world unstructured environments and applications, intelligent uncertainty adaptation fuzzy control is developed to overcome the limitations of type-1 FLCs. By using an output feedback control law and adaptive laws, based on the Lyapunov synthesis approach the complete control scheme provides that not only the free parameters of the FLC can be tuned on-line but also uncertainties adaptation can be achieved. Furthermore, the supervisory controller will be activated if the FLC cannot maintain the stability. Simulation results show better performance, i.e., the tracking error and control effort can be made smaller, besides the influence of uncertainties associated with the use of noisy training data and linguistic uncertainties can be attenuated during the design process.
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