Adaptive Critic Based Approximate Dynamic Programming for Tuning Fuzzy Controllers

Abstract: In this paper we show the applicability of the Dual Heuristic Programming (DHP) method of Approximate Dynamic Programming to parameter tuning of a fuzzy control system. DHP and related techniques have been developed in the neurocontrol context but can be equally productive when used with fuzzy controllers or neuro-fuzzy hybrids. We demonstrate this technique on a highly nonlinear 2 nd order plant proposed by Sanner and Slotine. Throughout our example application, we take advantage of the TS model framework to initialize our tunable parameters with reasonable problem specific values, a practice difficult to perform when applying DHP to neurocontrol. I