Stability analysis of an adaptive fuzzy control system using Petri Nets and learning automata

A hybrid intelligent control system that combines the theories of fuzzy logic and variable structure systems (VSS) is presented. This control architecture is viewed as a discrete event system (DES) and its properties are studied using the corresponding Petri Net diagram. The equivalence between this controller and a learning finite state automaton is revealed. The validity of the method is supported by simulation results concerning an arc-welding process and a mobile robot moving in a partially unknown environment.