title: Indirect adaptive control of unknown multi variable nonlinear systems with parametric and dynamic uncertainties using a new neuro-fuzzy system description.
abstract: The indirect adaptive regulation of unknown nonlinear dynamical systems with multiple inputs and states (MIMS) under the presence of dynamic and parameter uncertainties, is considered in this paper. The method is based on a new neuro-fuzzy dynamical systems description, which uses the fuzzy partitioning of an underlying fuzzy systems outputs and high order neural networks (HONN's) associated with the centers of these partitions. Every high order neural network approximates a group of fuzzy rules associated with each center. The indirect regulation is achieved by first identifying the system around the current operation point, and then using its parameters to device the control law. Weight updating laws for the involved HONN's are provided, which guarantee that, under the presence of both parameter and dynamic uncertainties, both the identification error and the system states reach zero, while keeping all signals in the closed loop bounded. The control signal is constructed to be valid for both square and non square systems by using a pseudoinverse, in Moore-Penrose sense. The existence of the control signal is always assured by employing a novel method of parameter hopping instead of the conventional projection method. The applicability is tested on well known benchmarks.
authors.affiliation: Department of Electrical and Computer Engineering, Democritus University of Thrace, 67100 Xanthi, Greece. dtheodo@ee.duth.gr
authors.forename: Dimitrios
authors.initials: D
authors.lastname: Theodoridis
authors.forename: Yiannis
authors.initials: Y
authors.lastname: Boutalis
authors.forename: Manolis
authors.initials: M
authors.lastname: Christodoulou
mesh_terms: D000222:Adaptation, Physiological / Q000502:physiology*; D000465:Algorithms; D017143:Fuzzy Logic; D006801:Humans; D016571:Neural Networks, Computer; D017711:Nonlinear Dynamics; D010363:Pattern Recognition, Automated / Q000379:methods; D035501:Uncertainty