Self-learning continuous controllers

In this paper different approach of adaptation mechanism for fuzzy model reference learning control (FMRLC) method will be introduced. In contrast to original method the proposed procedure guarantees continuity of the fuzzy controller that in reward results in its smooth input-output behaviour (mapp...

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Bibliographic Details
Published in2010 11th International Conference on Control Automation Robotics & Vision pp. 2409 - 2414
Main Authors Cerman, Otto, Husek, Petr
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2010
Subjects
Adaptation model
Control systems
fuzzy logic
fuzzy model reference learning control
Fuzzy sets
Inverse problems
Learning systems
self-learning controllers
Suspensions
Windings
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Summary:In this paper different approach of adaptation mechanism for fuzzy model reference learning control (FMRLC) method will be introduced. In contrast to original method the proposed procedure guarantees continuity of the fuzzy controller that in reward results in its smooth input-output behaviour (mapping) that eliminates undesirable abrupt changes in the control signal. Additionally, the proposed method shows larger robustness to responses of initial conditions and various reference signals. The advantages of the proposed modification are presented on control of magnetic suspension system. From result comparing rule bases after adaptation there is absolutely smooth control surface in case of proposed method FMRLC in comparison with original FMRLC. With proposed procedure it was achieved similar result regulation to original FMRLC but with more than 4x smaller adaptation gain.
ISBN:1424478146
9781424478149
DOI:10.1109/ICARCV.2010.5707210