Synthesis and Initialization of Adaptive Neuro-Fuzzy Control Based on the SDRE Technique for a Two-Link Manipulator

One of the open problems in modern control theory is synthesis of adaptive control for nonlinear systems with parametric uncertainty and analysis of stability of the corresponding closed-loop system. Fuzzy logic is one of the approaches that can take into account nonlinearity and uncertainty of the plant. Affine systems constitute a class of nonlinear systems often used to solve various practical problems. For this class, there are a number of methods for synthesis of controllers, in particular, a method based on the matrix Riccati equation with state-dependent coefficients. In this paper, for a given class of nonlinear systems, an adaptation mechanism of a neuro-fuzzy controller that approximates the control synthesized by the SDRE method is used for the first time. The main contribution of this work is the architecture of the neuro-fuzzy network and methods for its initialization. The proposed approach is applied to the model of a two-link manipulator with uncertain coefficients. The conducted numerical experiments demonstrate the effectiveness of the synthesized control in terms of the selected quality criteria.