Adaptive control of a class of nonlinear systems with a first-order parameterized Sugeno fuzzy approximator

In this paper, an adaptive fuzzy control scheme for tracking a class of continuous-time plants is presented. A parameterized Sugeno fuzzy approximator is used to adaptively compensate for the plant nonlinearities. All parameters in the fuzzy approximator are tuned using a Lyapunov-based design. In the fuzzy approximator, first-order Sugeno consequents are used in the IF-THEN rules of the fuzzy system, which has a better approximation capability than those using constant consequents. Global boundedness of the adaptive system is established. Finally, a simulation is used to demonstrate the effectiveness of the proposed controller.