Adaptive Neuro–Fuzzy Control for Discrete-Time Nonaffine Nonlinear Systems

The problem of nonaffine time-varying nonlinear control systems is addressed in this paper through an adaptive state-space neuro-fuzzy control scheme. It combines an eight-layered neuro-fuzzy model to approximate nonaffine nonlinear systems' dynamics with a state feedback quadratic stabilizing controller. Both the neuro-fuzzy model and controller are updated online within a constrained unscented Kalman filter framework. The proposed generalized...