Adaptive control of a class of nonlinear systems with nonlinearly parameterized fuzzy approximators

Recently, through the use of parameterized fuzzy approximators, various adaptive fuzzy control schemes have been developed to deal with nonlinear systems whose dynamics are poorly understood. An important class of parameterized fuzzy approximators is constructed using radial basis function (RBF) as a membership function. However, some tuneable parameters in RBF appear nonlinearly and the determination of the adaptive law for such parameters is a nontrivial task. In this paper, we propose a new adaptive control method in an effort to tune all the RBF parameters thereby reducing the approximation error and improving control performance. Global boundedness of the overall adaptive system and tracking to within a desired precision are established with the new adaptive controller. Simulations performed on a simple nonlinear system illustrate the approach.