An Indirect Adaptive Fuzzy Control Scheme for a Class of Nonlinear Systems

This paper presents an indirect adaptive control scheme, for a class of nonlinear systems in controller canonical form. Owing to the universal approximation property of a Takagi-Sugeno (T-S) fuzzy model, controller design is simplified by utilizing the T-S fuzzy model representation of a nonlinear system. An adaptation mechanism ensures that the estimator model asymptotically follow the actual T-S fuzzy model and thus removes the need of any a priori identification of the T-S fuzzy model of the system. The overall controller gain is a convex combination of the local linear gains which vary adaptively to ensure the convergence of the tracking error. Preliminary simulation results indicate the potential of the proposed method.