THE DESIGN OF ADAPTIVE FUZZY CONTROL...

14th World Congress of IFAC

Copyright © 1999 IFAC K-3e-10-6

14th Triennial World Congress, Beijing, P. R. Chin3

THE DESIGN OF ADAPTIVE FUZZY CONTROL

tWen-Shyong Yu and tChih-Jen SUll

t Departruent of Electrical Engineering~

Tatung Institute of Technology,
40 Chung-Shan North. Rd. 9rd~ Sec.)
Taipei, Tai'wan 10451 R. O. C.
TeI: 886+2+25925252 ext. 3473
Fax: 886+2+259~5252 ext. 3485
E-mail: wsyu@ctrl.ee.ttit.edu.tw

Abstract: This paper presents an adaptive fuzzy control scheme for controlling the
systems with 2-norm bound for system parameters and bounded disturbances. -The
controlled system is presented by a set of fuzzy subsystems "".,.ith aggregation. The
ada,ptive fuzzy controller is first designed by the state feedback controller which
has the maximum membership function value, and then adaptively tuning the
compensating control parameters to guarantee the stability of the closed-loop system.
The compensating controller is based on the switching-er adaptive control (SSAC)
design method. It is shown that the adaptive fuzzy controller can gua.rantee that the
estimat.es would not drift and the plant output of the closed-loop system approaches
zero. The simulation examples for controlling an inverted pendulum system are given
to illustrate the effectiveness of the proposed method. Copyright© 1999 IFAC

Keywords: Ada.pt.ive fuzzy control, state feedback.

1. INTRODUCTION the performance of the adaptive control la",~ is better

During the la..~t fe\v years, fuzzy logic control (FLC)
has been suggested as an alternative approach to c.on-
ventional control techniques for conlplex controlled
systems. The FLC design method represents a means
of both collecting human knowledge and expertise and
dealing effectively system ~~ith uncertainties. HOV·l-
ever, t.he problem of the design method depends
mainly on the individual operators' experience~ and is
generally inconsistent with the specified performance.
In (G. Feng and Chak 1997): the authors proposed a
design method for constructing a global fuzzy con-
troller [rorTI a set of local fuzzy controllers. However,
when the controlled systems are with unknown pa-
rameters and disturbances, the design method can
not guarantee the stability of the closed-loop system.
Rence~ we should consider other control design meth-
ods like the adaptive control law by letting the fuzzy
control design Inethod have the features of adjusting
the control parameters to cope with the presence of
unknown parameters or unknown variation in plant
parameters and load disturbances. It is kno,vn that
than those of constant gain feedback control lalrv for
syst.ems ~"it.h unknown parameters and can guarantee
t.hat the tracking error of the systems \vith unknov~rn
parameters goes to zero '\<vhen disturbance is free.
However: instability of the control may occur when
disturbance exists. In (Peterson and Narendra 1982)
and (Sastry 1984), the authors developed an adaptive
control law using dead-zone technique for systerrlS
,~rith unknown pa-rauleters and bounded disturbance.
The feature of the control la\v is that it is turned
off as the tr acking error is small and turned on oth-
erwise. lVIoreover, the control lavil can prevent the
estimated parameters from being infinity and guar-
antee the tracking error of the system approaches
some bound. In (Ioannoll and Datta 1991) and (Ioan~
nOll and SUN 1996), the authors developed the u~
modification adaptive control law, its b~lO)ic principle
is to improve the adaptive control law so that the
estimated pa.rameters will not drift to infinity in th,
presence of bounded disturbances. In (Ioannou au(
Tsakalis 1986), Ioannou and Tsakalis developed thl
s)vitching-u adaptive control (SS~~C) design rnetho(

5410
Copyright 1999 IFAC ISBN: 0 08 043248 4
THE DESIGN OF ADAPTIVE FUZZY CONTROL... 14th World Congress ofIFAC

for systems with unknown parameters and bounded Let Jli(Z(t) be the membership function of the In-
disturbances. It can guarantee that the tracking error ferred fuzzy set }~i, where
goes to zero in the absence of disturbances. In this
paper, we present the adaptive fuzzy controller for
systems ,'\rith knO\'f,rn induced 2-norm but unknown F
i
= n FJ,
j=l
h
(4)
parameters and bounded disturbances. The controlled
system is represented as a family of fuzzy 8ubsystenlS
and then the adaptive fuzzy controller is constructed and
by considering each local state feedback controller. m

In order to tackle the systems with bounded dis- LJ1i == 1 (5)

turbances t the adaptive fuzzy controller with the i=l

switching-a" adaptive control design method is pro-

posed. It is shown that the proposed adaptive fuzzy Then, by using the standard fuzzy inference method,
control design method can guarantee that the system i.e., using a singleton fuzzifier, product fuzzy inference
states approaches some bound and do not drift to and center average defuzzifier, the fuzz,y dynamic
infinity. Finally, the simulation examples for control- system can be obtained a.9
ling an inverted pendulum are given to illustrate the
X(t) == ~4x(t) + Bu(t)
effectiveness of the proposed met.hod. { y(t) = eT x(i) (6)

2. PROBLE1\1 FORMULATION where

The fuzzy design method can precisely characterize m

the key features of the rea.l systems and is trackable A = E/.liA i =
for lllathelnatical analysis. Herein, The fuzzy math- i=l
ematical model is expressed as a multi-input-single-
output system which includes both m fuzzy inference
m (7)
rules and rn linear subsystems to constitute the con- B == L JliBi := diag{ hI, b2 ~ . ~ . , bn } ~
i=1
trolled system based on the following heuristics; m

RI : IF Zl is Fl AND ... Zh is Fl THEN the C = LJ.tiCi:=::: [Cl,C2~" .,cn]T.

i~l
fuzzy subsystem is
x(t) == A 1 x(t) + El u(l} It is seen that the output yet) of the fuzzy system is
{ Yl(t) == C"[ x(t) (1)
inferred by taking the weighted average of the outputs
Yi (t ), i = 1 2, . . . ~ n, i.e.,
1

R 2 : IF Zl is F{ AND··· Zh is Fl THEN the rn

fuzzy subsystem is y(t) =: EJ.liYi(t). (8
i==l
(2)

3. Fl:ZZY CONTR.OLLER, DESIGN

Rm ;IF Zl is F] AND···
the fuzzy 8ubsystem is
Zh is F h THEN For the controller design problem, all the fuzzy sub
systems defined in (1)-(3) should be chosen to b
controllable, Hence 1 the controller using state feed
(3) back gain can be designed based on the fuzzy sub
systems j (Ai, B i ), i == Ij 2, ... my then the stat j

feedback control gains, ]{i, i == 1 1 2, ... , rn, can b,

where Ri denotes the ith fuzzy inference rule, m the
number of inference rules, Fj, j =: 1,2, ... , h, fuzzy
sets, (Ai ~ Bi! Ci) the ith knovln, controllable and oh-
servable subsysterrl triple, and z(t) == [Zl(t), . .. , Zh(t)]T
some me.asurable syst.em variable. Moreover, x(t) ==
[Xl(t): ... Xn(t)]T is the fuzzy state vector, Yi(t) the
1
obtained by using the conventional linear system the
ory (G.F. Franklin and E·mami-Naeini 1991), (Kailat!
1980). 'There exists a symrnetric positive-definite ma
t.rix Pi which is the unique solution of the foIlowin,
Lyapunov equation

ith fuzzy output, and ll(t) the control input. (9

5411
Copyright 1999 IFAC ISBN: 0 08 043248 4
THE DESIGN OF ADAPTIVE FUZZY CONTROL... 14th World Congress ofIFAC

where Ai =
Ai -Ri !{i, and Qi is a sYIIlrnetric positive- kth rule is fired with the maximum membership func-
definite matrix. Then we have the it.h fuzzy c.ontroller tion, the condition from the membership functions
for the ith fuzzy subsystem: of the other fired rules should be smalL However,
the condition may not be satisfied for system V\-Tith
c i ; IF Zl is Ft AND··· £h is F~ THEN unknown but bounded parameters and disturbances,
(10) or in other ,\\Tords "vhen we have incomplete nlathe-
matical model description, and therefore the closed-
where Ci is the ith control rule. loop system cannot be guaranteed t.o be stable. In
this section, the fuzzy controller conlbining the com-
The fuzzy controller is inferred from t he select ion pensating controller using the switching-O" adaptive
of the dOlllinant fuzzy subsystem whose membership control (SSAC) design method is used to ensure the
function is rn aximu m , i.e" the fuzzy controller is stability of the closed-loop system for systems with
represented by t.hat of the ith fuzzy subsystem if it 2-norIn bound but unknO\\rll uncertain parameters
ha.s the maximum membership function and can be and with bounded disturbances. Let the sY8teIIl to
shown as be controlled ~with disturbances be described by
(11) x(t)==(A+dA!x(t)+(B+~B)u(t)+d(t) (16)
{ y{t) ==( C+ tl.C)x(t)
\vhere the subscript k is defined by
where the matrix triplet (A,B,C) is defined in (7),
k ::"" al'g {m,ax{l-'i' i = 1,2, ... , m}} (12)
the. t.riplet (~At~B,~C) unknown uncertainty~ and
d(t) = [d 1 (t), ... , dn(t)]T E Rn an unknown time-
Substituting (11) into (6) yields varying disturbance. For the system mentioned above)
we have the fol1o~Tjng asslllIlptions:
x(t) ~ Ax(t) - BKkX(t) (1) The order of n is known.
(2) The uncertainty of matrix ~A is unknown but its
=L J1.i(.I1i - BiI'Ck)x(t) (13) induced 2-norm is kno'\vn and bounded. Hence,
i=l
llA + ~AII is known and bounded.
(3) The lower bounds of s6.bi of the elements of llB,
Denote Aind(X) as the induced 2-norm of the matrix i =: 1 , ... , n are known. Hence, lbi + ~bd 2: Qi'
X~ and Amax(X) and Amin(X) as the largest and the Vi, where ki is a known constant parameter, and
smallest eigenvalues of }{, respectively, and we have sgn(bi + ~bi), i == 1, ... , n, are known.
the following theorem. (4) The upper bounds of di) i = 1, ... ) n are kno,vn,
Le., Idd ~ di, '1i: where di is a known constant
Lemma 1 (G. Feng and Chak 1997): If the fuzzy parameter.
subsystems described in (1)-(3) are all controllable,
then the fuzzy closed-loop system described in (13) is
LeDlIlla 2: Assume that A E Rn Xn is an unknow:
asymptotically stable if
constant matrix but with kno~vn bounded induced ~
m
norm. Let P E Rnxtl > 0 be an arbjtrary syInmetri
LPiA~'k > 0 (14) constant matrix) and J1t71 E Rn Xn > 0 an arbitrar:
i==l
diagonal constant matrix. Then there exist t1l 2 :;
where the subscript k is defined in (12) and Aik is -r- J1.-T1 , 'fJ < Aznd and Q a positive definite IIlatri:
suwch that
defined by
(15) (17

where A1nax is the biggest eigenvalue of PvV1 + VfT1T j

for which P == 2:~~1 Pi and ~Qik =: (Ai - Bj !(k) T p+
P(A i ~ Ri !(k) for i == 1,2, ... , m. t:.66 and ~ind the induced-2-norm of P-,4 + ~4T P.
Proof: Multiplying both sides of (17) on the left b~
x T and on the ~ight by x, and takiIl~ IIx( t)1I :::: 1
4. THE SSAC DESIGN METHOD FOR '\ve have -x(t)T Qx(t) < O. Therefore, Q i~ a positiv,
UNKNOWN S"lSTEMS definite matrix. 66L
Leluma 1 gives a sufficient stability condition for the Since the condition (14) may not be satisfied, the]
closed-loop control system. It is seen that when the the fuzzy cont.roller should combines the switching-c

5412
Copyright 1999 IFAC ISBN: 0 08 043248 4
THE DESIGN OF ADAPTIVE FUZZY CONTROL... 14th World Congress of IFAC

246

adaptive control law to ensure system stability and is Choose the Lyapunov function candidate as T7(t) =
ShO\VIlin the follo\ving x(t) T Px(t) + Tr{ (tB1W(t) - W 2)T (IB'W~(t) - vll2)}.
Different.iating V(t) ~rith respect to time along the
net) :::: uJ(t) + u$(t) (18) trajectory of equation (22) and choosing t'V2 from
Lemma 2, we obtain
where u 1ft) is defined by (11). Substituting (18) into
(16) 1 y.,re obtain:

x(t)==J.lkAkx(t)+Hk x(t)-+(B+ ~B)us (t}+ d(t)(19)

V(t) = x(t) T Px(t) + x(t) T Px{t) + Tt-{ 2(IBI ~'V(t) -
W 2 )TIBir}V(t) }
where HA: = I:::IJi~k J--Li(Ai - BiJ<k) + ~A.
Theorem 1: Consider the system in (19). The adap- = -x T (t)Qx(t) + Tr{ 2Px(t)d(t) T -
ti vc control la",' for the system is defined by

Us (t) == -sgn[ B] vV'"(t)x(t) (20) 2(1BI vV(t) - W2) T.E } (23)

wbere virhere Q can be obtained from (17) by replacing A

V\i~ith Hk and Qk: from (9) by r(~placing i with k, and
~ := diag{PI10"~11Vl'... , PnnlTsn w n }. Since
sgn[B] ~ diag {sgn(b 1+Llb 1 ), .•. , sgn(bn+~bn)}

(t) ~ ... , W n (t)}

TV(t) == diag {U'l

1 if (bi + ab2:) > 0

8g n( bi + ~ bi ) == 0 if (b i + ti.bi) == 0 , i == 1, . ~ . 1 n we have
{
- 1 if (b i + Llbi) < 0
n
and the update law is l>(t):::; -x T (t)Qx(t) + 2 L,PiiXi(i)di(i)
i=1
fB/W(t) == Px(t)x(t) T - 0.5 x (IEI \17 (t) - yt.T2 ) -1).tk := -(x+x(t» T Q(x(t}+x(t )+x(t) T Qx(t) (24)
aT x(t)X(t)T - pr~V(t) (21)
where d(t) == [-Pl1dl(t)} . .. , -Pnndn(t)]T and
where x(t)T Q == d(t)T. Since Q~l exists~ x(t)T := d(t)T Q-1
exists. If d(t) - i - OJ then cl. - 7 0 and xCi) -+ O.
'Thus, Vet) == -xCt) T Qx(t) S D, i.e., x(t) ~ 0 as
IBt ~ diag {lb 1 + ~bll, ~ .. , Ib n + abnll t --+ 00. If d(t) i=- 0, \ve obtain an hyperellipsoid as
~t,. (t) ==: di ag {1n 1 ( t ) ... Wn ( t ) } V(t) = 0 from equation (24). As x(t) is outside the
r == diag{f 1 ... r 11} hyperellipsoid, iT(t) S; O. 'I'herefore, \ve can conclud
that xCi) will converge to a bounded set. 66l..
0 Qil'Wi(t)1 < Wi
rj =
{
ffj (tl~;(t)1 - 1) if;; s Q,!wj(t)1 s 2wj From (23) and (24), we know that the adaptive fuzz:
controller can guarantee t.he state vector x of (16
(fi Qilwi(t)r > 2Wi approaches some bounded set and the regulating erro
goes to zero in the absence of disturbance. But "'live cal
not conclude the gain of the controller will not drif
to infinity as k.i IU'i I > 2Wi.

and U~i, O"i > 0, i = 1,2, ... n, are control parameters

I 5. EXAMPLE,
to be designed. Then the systenl state x of (16) will
approac:h a bounded set~ 'The controlled system considered here is the inverte(
pendulum on a cart. The dynamics of th~ systen
Proof: Substituting (20) into (19), we have
is shown in Fig. 1 and is expressed by four statl
variables:
x(t):::: JJkAkx(t) + (Elk - IBIMl(t))x(t) + d(t) (1) () is the angle of the pendulum with respect t<
==JlkAkX(t) ~ (T-V2 - Hk)x(t)- the perpendicular axis,
(!Blv1/(t) - tVz)x{t) + d(t) (22) (2) ais the angular velocity of the pendulum,

5413
Copyright 1999 IFAC ISBN: 0 08 043248 4
THE DESIGN OF ADAPTIVE FUZZY CONTROL... 14th World Congress of IFAC

(3) z is the position of the cart,

(4) i is the veloci ty of cart.
These four stat.e variables are described by the follow-
ing two second order differential equations:

. (J
9 Sin + COSv
l) ( - j - m E £9 2 sin 6 )
a u
ii - ~-------~---
- l( ~ _mp~OS29) (25)

..
f + mpl(esinO- ij case) x
z= (26)
a Fig. 1. An inverted pendulunl systcrn.
where 9 == 9.8mjs 2 is the gravity constant, me (mass The fuzzy states for Xl and X2 are chosen as in
of the cart) is 8 kg, m p (mass of the pendulum) is 2 figures 2 and 3, respectively. The desired cJosed-
kg, a := l/(mp + n~c), 2£ (length of the pendulum) is I loop poles for each local nlodel are chosen as (-4 ±
In, and f is the applied force in newton. The purpose j5.454) ~ ,vhich correspond to 10% overshoot and 1
of the control is to balance the pendulum without sec. settling time. Thus the feedback control gains
regard to the position and velocity of the cart and are found as [(1 =
[-357.4135 -45.3333}, !{2 ==
hence only (25) applicable in our design. If the stat.e [ -357.4135 -45.3333],1<3 = [ -662.5861 -102.6667 J,
variables are defined by f == U, Xl == (J, and X2 ::= (), !(4 -680.4563 -109.5949) and
=: [ j

the :o;tate equat.ion in (25) can be expressed as:

1<5 == r -680.4563 -95.7385]. If we chose Q == I (the
unit matrix)) then
Xl := X2

. g sin(Xl) - amlx~ sin(2xt)/2 - a COS(Xl)U Pt =: [189.0356 22.8947] P = [189.0336 22.8944]

22.8947 0.1227 2 22.8944 0,1227 '
4£/3 _ am,[ cos 2(Xt)
l
X2 == ,
The fuzzy subsystems for the inverted pendulum 189.8524 22.8821] p _ [189.8464 22.88J9]
P3 == [ 22.8821 0.]278 ' 4 - 22.8819 0.1278 '
shov..~n in the follo'JIy-ing are obtained by linearizing the
nonlinear equations oVer a number of operating points P _ [192.3083 22.8819]
in the phase plane of (Xl, X"J): 5 - 22.8819 0.1253 1

P _ ~p _ [948.0763 114.4351]
R 1 : IF ~Cl is about 0, X2 is about 0 T'HEN - L.J z - 114.4351 0.6363
l.=1

X= (17.g941~] x+ [-O.~765] U
The simulation results are shown in figure 4 with th
initial condition of Xl (0) =
45° and X2(O) == 0 '\I-it
R 2
; IF Xl is about O~ X2 is about ±4 THEN bounded disturbance. It is seen that if Xl(O) ;::: 45 C
the output of the inverted pcnduluIn systerIl con
x= [14.~706~] x+ [-O.~765] u trolled by the fUZ2,y control IaVl.? is not stable wi thou
the compensating control, however, it call alv~. .ays b
R 3 :IF Xl is about ±;r /3, X2 is about 0 TIIEN regulated to zero by the proposed design methocl
From above, the proposed fuzzy controller with th
x= (5.8~12 ~] X + [ -O.g779] U SSAC scheme has effectively output. responses whe]
systems have bounded load disturbance.
R 4 :IF Xl is about 7rj3, X2 is aoout 4 or Xl is about
-J( /3, X2 is about -4 THEN

x = [ 7.2~37 O..5~99) x + [ -O.~779]

6. CONCLUSIONS
U
This paper presents a.n adaptive fuzzy control far sys
R 5 :IF Xl is about 1r/3, X2 is about -4 or Xl is about terns \vith unknown paran1eters and bounded distur
~1f /3, X2 is about 4 'l""HEN banees. The system to be controlled is presented by 4

[7.2~37 -0.;399] x + [ -O.g779 Ju

set offuzzy subsystems V!I?hich are all chosen to he con
x= trollable and observable. The design of the adaptivl

5414
Copyright 1999 IFAC ISBN: 0 08 043248 4
THE DESIGN OF ADAPTIVE FUZZY CONTROL... 14th World Congress of IFAC

Fig. 2. Fuzzy Inembership function for state Xl.

ir----\-~-,----~
/ \ / 0.5
llJlf '/ \ /
. \! 'l
04r / \ I \
112 / \ / \
o ,,// (~,.// ~I

15 /\
Fig. 3, F'uzzy ll.lelnbership function for state X2.

fuzzy controller is accomplished by first finding the lo- II ) \

cal state feedback controllers for each subsystem \vith
the desired closed-loop poles, and then constrnct.ing
the globally fuzzy controller adaptively from the donl-
~i
ni
\
V"~~-----------------1
inant local subsystem to cope ~"ith the problem when
the controlled system has known induced 2-norm but -ML---~L--_L. __ ~i_----------L-~,~~j
with unkno\vn paranleters and bounded disturbances. o ns 1 1.5 2 2.5 3 35 4
From the simulation results \vith inverted pendulum "'W~«dra
systenl it is seen that t.he proposed design method
1

can guara.ntee that the tra.cking error of the output

approach zero whenever the disturbances exist. Fig. 4. r:I~he responses of the angle of the pendulu111
(a) without compensating control and (b) wit
componsating control ,vhen x(O) =
[4.5 0 , 0] an
7. REFERENCES disturbance d == [1 rad: 1 radj sec]T.
G. Feng, S.G. CaOl N."\V. Rees and C.K. C,hak (1997). Peterson~ B.B. and K.S. Narendra (1982). Bounde
Design of fuzzy control systems with guaranteed error adaptive control. IEEE Trans. on A 'Utl
st.abilit,y. Fuzzy )...C;ets and Systems SS! 1-10. matie Contr. Vol. AC-27, 1161-1168.
G.F. Franklin, J .D. Powell and A. Emami-Naeini Sastry, S.S. (1984). l\r1odel reference adaptive contra
(1991). Feedback Control of Dynamic Systems. stabjJjt.y, paraIIleter convergence and robustnes~
Addison-Wesley. New York~ I.lvI.A.!. Contr. and Inform. 1,27-66.
Ioannou: P. A. and K. S. 'T'sakalis (1986). A robust
direct adaptive controller. IEEE Trans. on Auto-
11lutic ContT. Vol~ AC-31, 1033-1043.
Ioannou, P.A. and A. Datta (1991). Robust adaptive
control: a unified approach. Proceedings of the
IEEE 79, 1735-1768.
Ioannou, P.A. and J. SlJN (1 996)~ Robust Adaptive
Control. Prentice-Hall 1 Englewood-C,liffs. N. J.
Kajlath~ T. (1980). Linear /iystem. Prentice-Hall~
Englewood-Cliffs. N. J.

5415
Copyright 1999 IFAC ISBN: 0 08 043248 4