Hybrid model-based adaptive fuzzy control system

An adaptive fuzzy control based on a hybrid fuzzy model is developed. Two different models, the Mamdani fuzzy model and the Takagi-Sugeno fuzzy model, are integrated in designing an adaptive fuzzy control system. The objectives of these two fuzzy models are respectively employed to model the controlled system, such that an estimated control can be established. For dynamically responding the system characteristic through the estimated control, the gain parameters among fuzzy models are adapted through the distinct constructed adaptive mechanisms. Furthermore, the proposed adaptive fuzzy controller is stable in the sense of the Lyapunov while adding a robust control term. Finally, a simulation example with a nonlinear inverted pendulum system is applied to verifying the effectiveness of the proposed approach.