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A T-S fuzzy based adaptive critic for continuous-time input affine nonlinear systems

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4 Author(s)
Prem, K.P. ; Dept. of Electr. Eng., Indian Inst. of Technol. Kanpur, Kanpur, India ; Behera, L. ; Siddique, N.H. ; Prasad, G.

This paper proposes a novel scheme of a Takagi-Sugeno (T-S) fuzzy based adaptive critic for the optimal control of the continuous-time input affine nonlinear system. A novel learning strategy is proposed to update the weights of critic network which resolves the issue of under-determined weight update equations discussed in previous paper. The T-S fuzzy based critic network approximates the global optimal cost as fuzzy average of local costs associated with local linear subsystems. This work clearly demonstrates that the optimal cost of a nonlinear system can be represented as the fuzzy cluster of optimal costs of locally valid linear models in a T-S framework. The proposed scheme has been simulated for four different dynamic systems. Simulation results clearly demonstrate that the T-S fuzzy approximates the optimal cost, with subsystems in each fuzzy zone represents the optimal cost of locally valid linear model.

Published in:

Systems, Man and Cybernetics, 2009. SMC 2009. IEEE International Conference on

Date of Conference:

11-14 Oct. 2009

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