Construction of self-learning fuzzy controllers using autonomous adaptive control methodology

A method of constructing adaptive fuzzy controllers using autonomous adaptive control methodology is considered. Knowledge in the system is represented in the form of fuzzy production rules. New rules are automatically generated by clustering empirical data obtained using substractive method in the course of system operation. The system is adapted with application of a special quantity calculated for each rule, the “adequacy degree”, which specifies the weight of the rule in the course of control. The method developed can be used for constructing applied control systems of dynamic objects. This opportunity is shown experimentally using the problems of balancing an inverted pendulum and stabilizing the angular motion of a spacecraft.