Adaptive Fuzzy Controller With Self-Constructing Feature

This paper proposes a technique that combines SOFNN [Khafagy et al., 2001] and “State Feedback Fuzzy Controller” developed by Wang [Wang 1993, 1994]. This combination implements a novel controller called Self-Tuning Adaptive Fuzzy Model Reference Controller (STAFMRC). STAFMRC inherits the features of SOFNN and “State Feedback Fuzzy Controller”. Essential features of STAFMRC include self-constructing, self-tuning and self-removing of the controller parameters. Additionally, STAFMRC can handle complex, non-linear and unstable systems. It simplifies and enhances the performance of the system under study. STAFMRC initiates and responds to the system dynamics, achieving the required goal. It assigns new controller parameter when SOFNN adds clusters. It also removes parameters when SOFNN removes clusters. In this combination, STAFMRC begins controlling the system without predefined parameters. The controller parameters are tuned based on Lyapunov adaptive law. Simulation results assures the ability of the algorithm to handle complexity and non-linearity.