Title: A new robust adaptive fuzzy synergetic control for nonlinear systems with an application to an inverted pendulum

Authors: Abderazak Saidi; Farid Naceri; Sundarapandian Vaidyanathan

Addresses: Department of Electrical Engineering, LSTE Laboratory, University Mustapha Ben Boulaid, Batna 2, Algeria ' Department of Electrical Engineering, LSTE Laboratory, University Mustapha Ben Boulaid, Batna 2, Algeria ' Research and Development Centre, Vel Tech University, Avadi, Chennai – 600 062, Tamil Nadu, India

Abstract: This paper deals with a nonlinear adaptive control design based on synergetic control, which also uses fuzzy systems to approximate the dynamics of nonlinear systems. The stability of the closed-loop system is ensured by the Lyapunov synthesis in the sense that all the signals are bounded, and the controller parameters adjusted by adaptation laws. The proposed algorithm is applied to an inverted pendulum to track a sinusoidal reference trajectory. Simulations and discussion are presented to illustrate the new robust adaptive fuzzy synergetic control described in this work.

Keywords: adaptive control; fuzzy adaptive control; fuzzy systems; Lyapunov; nonlinear systems; synergetic control.

DOI: 10.1504/IJMIC.2019.104378

International Journal of Modelling, Identification and Control, 2019 Vol.33 No.2, pp.89 - 97

Received: 06 Mar 2019
Accepted: 14 Sep 2019
Published online: 06 Jan 2020 *

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