Indirect Adaptive Fuzzy Control for a Class of Nonaffine Nonlinear Systems with Unknown Control Directions
This article presents an indirect adaptive fuzzy control scheme for a class of nonlinear uncertain nonaffine systems with unknown control directions. The nonlinear nonaffine system is first transformed into an affine form by using a Taylor series expansion, and then fuzzy systems are employed to approximate the equivalent affine system's unknown nonlinearities. By modifying the estimated input control gain and using a novel smooth robust control term, a stable well-defined adaptive controller is proposed. Simulation results are provided to illustrate the efficiency of the proposed scheme.
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- 2011. "" International Journal of Control, Automation and Systems, 9(6): 1124~1135
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