A Novel Online Self-Structuring Fuzzy Control Algorithm and Its Application

This paper proposes a novel self-structuring algorithm for the online adaptive fuzzy controller (SA-OAFC). The SA-OAFC capable of adding and deleting inference rules autonomously can start operating with an empty set of fuzzy rules based on the desired output and actual output of the system to avoid conventional differential operation. It also takes advantage of the auxiliary fuzzy system to evaluate the approximated results with little information of the plant. The SA-OAFC is characterized by its good engineering approachability, robustness for all kinds of perturbations of the plant, and the ability to perform variable selection among a group of candidate input variables. Moreover, it manages to remarkably reduce the amount of computation and decrease the complexity of the system. This paper demonstrates the capabilities of SA-OAFC by a simulation example and then hardware-in-the-loop (HIL) experiment.