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...

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...

This paper presents the design of a neural network based feedback linearization (NNFBL) controller for a two degree-offreedom (DOF), quarter-car, servo-hydraulic vehicle suspension system. The main objective of the direct adaptive NNFBL controller is to improve the system’s ride comfort and handling quality. A feedforward, multi-layer perceptron (MLP) neural network (NN) model that is well suit...

In this paper, we present a global adaptive output feedback control scheme for a class of uncertain nonlinear systems to which adaptive observer backstepping method may not be applicable directly. The allowed output feedback structure includes quadratic dependency of the unmeasured states and output-dependent nonlinearities appearing not only additively, but also multiplicatively. Our novel des...

In this paper some adaptive nonlinear multivariable techniques used in the control of robotic manipulators are presented. The nonlinear control law and state feedback are used in achieving a linear inputoutput behavior for the controlled system. For the design of the adaptive nonlinear control, the exact feedback input-output linearization and the method of gradient are used. The nonlinear cont...

Nonlinear control theory has received considerable attention m the last decades. As a result, there exists nowadays a sophisticated framework using (differential) geometric methods for dealmg with a large number of controller design problems. The book under review, Nonlinear Control Design, Geometric, Adaptiue and Robust presents according to the back cover of the book “A self-contained introdu...

We show that an adaptive input/output feedback linearization control scheme for minimum phase nonlinear systems is robust with respect to unstructured plant uncertainties that include such as unmodeled dynamics and disturbances, provided the adaptive law is modiied in the same fashion as for linear systems, and the plant nonlinearities satisses some growth constraints. In the analysis we utiliz...

This paper considers the position tracking problem of a voltage-controlled magnetic levitation system. It is well known that the control problem is quite complicated and challenging due to inherent nonlinearities associated with the electromechanical dynamics. And feedback linearization approach via coordinate transformation is considered to be a useful candidate to tackle the control problem. ...