Authors:
Domenico Bellomo
1
;
David Naso
1
and
Robert Babuška
2
Affiliations:
1
Politecnico di Bari, Italy
;
2
Delft University of Technology, Netherlands
Keyword(s):
Adaptive fuzzy control, tracking control, identification, feedback linearization, interactions.
Related
Ontology
Subjects/Areas/Topics:
Artificial Intelligence
;
Computational Intelligence
;
Fuzzy Control
;
Fuzzy Systems
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Soft Computing
Abstract:
In this paper, the convergence of parameter estimates and the interactions among the two adaptive fuzzy systems constituting an indirect adaptive fuzzy controller are studied, both analytically and by means of simulations with a second-order nonlinear system. The analytical results and the simulations, performed with various initial conditions and learning rates, highlight how the interactions affect the behavior of the adaptive control scheme with regard to the control performance in terms of a tracking error, accuracy and relevance of the identified fuzzy models.