Robust Adaptive Fuzzy Control for Nonlinear System with Dynamic Uncertainties Based on Backstepping
نویسندگان
چکیده
In this paper, a robust adaptive fuzzy backstepping control is developed for a class of strict-feedback canonical nonlinear systems. The systems may possess unknown functions, the nonlinear dynamic uncertainties and unmodeled dynamics. The fuzzy logic systems are used to approximate the unknown nonlinear functions and nonlinear damping terms are used to counteract the nonlinear dynamic uncertainties and unmodeled dynamics. It is proved that the derived fuzzy adaptive controller can guarantee the semiglobal uniform ultimate bound property for all the signals and the output converge to a small neighbordhood of the origin. Simulation studies are included to illustrate the effectiveness of the proposed approach.
منابع مشابه
High-Precision Intelligent Adaptive Backstepping H∞ Control for PMSM Servo Drive Using Dynamic Recurrent Fuzzy-Wavelet- Neural-Network
This paper proposes a high-precision intelligent adaptive backstepping control system (HPIABCS) for the position control of permanent-magnet synchronous motor (PMSM) servo drive. The HPIABCS incorporates an ideal backstepping controller, a dynamic recurrent-fuzzy-wavelet-neural-network (DRFWNN) uncertainty observer and a robust H∞ controller. First, a backstepping position controller is designe...
متن کاملADAPTIVE BACKSTEPPING CONTROL OF UNCERTAIN FRACTIONAL ORDER SYSTEMS BY FUZZY APPROXIMATION APPROACH
In this paper, a novel problem of observer-based adaptive fuzzy fractional control for fractional order dynamic systems with commensurate orders is investigated; the control scheme is constructed by using the backstepping and adaptive technique. Dynamic surface control method is used to avoid the problem of “explosion of complexity” which is caused by backstepping design process. Fuzzy logic sy...
متن کاملAdaptive fuzzy sliding mode and indirect radial-basis-function neural network controller for trajectory tracking control of a car-like robot
The ever-growing use of various vehicles for transportation, on the one hand, and the statistics ofsoaring road accidents resulting from human error, on the other hand, reminds us of the necessity toconduct more extensive research on the design, manufacturing and control of driver-less intelligentvehicles. For the automatic control of an autonomous vehicle, we need its dynamic...
متن کاملADAPTIVE FUZZY TRACKING CONTROL FOR A CLASS OF PERTURBED NONLINEARLY PARAMETERIZED SYSTEMS USING MINIMAL LEARNING PARAMETERS ALGORITHM
In this paper, an adaptive fuzzy tracking control approach is proposed for a class of single-inputsingle-output (SISO) nonlinear systems in which the unknown continuous functions may be nonlinearlyparameterized. During the controller design procedure, the fuzzy logic systems (FLS) in Mamdani type are applied to approximate the unknown continuous functions, and then, based on the minimal learnin...
متن کاملADAPTIVE FUZZY TRACKING CONTROL FOR A CLASS OF NONLINEAR SYSTEMS WITH UNKNOWN DISTRIBUTED TIME-VARYING DELAYS AND UNKNOWN CONTROL DIRECTIONS
In this paper, an adaptive fuzzy control scheme is proposed for a class of perturbed strict-feedback nonlinear systems with unknown discrete and distributed time-varying delays, and the proposed design method does not require a priori knowledge of the signs of the control gains.Based on the backstepping technique, the adaptive fuzzy controller is constructed. The main contributions of the paper...
متن کامل