Robust control for a class of uncertain nonlinear systems: adaptive fuzzy approach based on backstepping

A robust adaptive fuzzy control design approach is developed for a class of multivariable nonlinear systems with modeling uncertainties and external disturbances. The controller design for the overall systems has been carried out through a number of simpler controller designs for a series of the relevant auxiliary systems based on the backstepping design technique. For each auxiliary system, an adaptive fuzzy logic system is introduced to learn the behavior of unknown dynamics, and then a robust control algorithm is employed to efficiently compensate the approximation error and the external disturbances as well. It is shown that the resulting closed-loop systems guarantee a satisfactory transient and asymptotic performance. A simulation example is also presented to illustrate the design procedure and controller performance. © 2004 Elsevier B.V. All rights reserved.