LAUSR

The major objective of this study is to design an effective control algorithm for dealing with multiple-input–multiple-output uncertain nonlinear systems. Novelty advantages of the proposed method include: (1) The network has the maximum initial rules; it helps to increase the responsiveness of the system; (2) the network has two dynamic thresholds: One dynamic threshold is utilized to consider whether to retain or to delete the existing rules and the other is used for generating a new rule; (3) the fuzzy neural network-based system can automatically construct the network structure and adjust the parameters of the system; (4) the network uses multiple combination techniques, such as sliding mode control, adaptive control, recurrent unit, wavelet function, fuzzy logic, neural network, and technique for order of preference by similarity to ideal solution multi-criteria decision analysis method. Based on the advantages of the above techniques, a self-organizing recurrent wavelet fuzzy neural network control system is designed comprising a main controller and a robust compensator. The gradient descent method is used to online tune the parameters for the main controller, and a Lyapunov stability theorem is applied to guarantee the system’s stability. Finally, the proposed control system is applied to a nonlinear chaotic system, an inverted double-pendulum system, and an unmanned aerial vehicle motion control to verify the effectiveness of the proposed control scheme. The simulation results show that the proposed control scheme can achieve favorable control performance.