Robust adaptive fuzzy backstepping output feedback tracking control for nonlinear system with dynamic uncertainties  

作　　者：TONG ShaoCheng & LI YongMing Department of Basic Mathematics, Liaoning University of Technology, Jinzhou 121001, China 

出　　处：《Science China(Information Sciences)》2010年第2期307-324,共18页中国科学（信息科学）（英文版）

基　　金：supported by the National Natural Science Foundation of China (Grant No. 60674056);Outstanding Youth Funds of Liaoning Province (Grant No. 2005219001);Educational Department of Liaoning Province (Grant Nos. 2006R29, 2007T80)

摘　　要：In this paper, an adaptive fuzzy output feedback control approach based on backstepping design is proposed for a class of SISO strict feedback nonlinear systems with unmeasured states, nonlinear uncertainties, unmodeled dynamics, and dynamical disturbances. Fuzzy logic systems are employed to approximate the nonlinear uncertainties, and an adaptive fuzzy state observer is designed for the states estimation. By combining backstepping technique with the fuzzy adaptive control approach, a stable adaptive fuzzy output feedback ro- bust control is constructed recursively, in which nonlinear damping terms and a dynamical signal are introduced to counteract the nonlinear uncertainties and dominate the dynamic disturbances, respectively. It is proved that the proposed adaptive fuzzy control approach guarantees that all the signals of the closed-loop system are semi-globally uniformly bounded, and the tracking error converges to a small neighborhood of the origin. Simulation studies are included to illustrate the effectiveness of the proposed approach.In this paper, an adaptive fuzzy output feedback control approach based on backstepping design is proposed for a class of SISO strict feedback nonlinear systems with unmeasured states, nonlinear uncertainties, unmodeled dynamics, and dynamical disturbances. Fuzzy logic systems are employed to approximate the nonlinear uncertainties, and an adaptive fuzzy state observer is designed for the states estimation. By combining backstepping technique with the fuzzy adaptive control approach, a stable adaptive fuzzy output feedback ro- bust control is constructed recursively, in which nonlinear damping terms and a dynamical signal are introduced to counteract the nonlinear uncertainties and dominate the dynamic disturbances, respectively. It is proved that the proposed adaptive fuzzy control approach guarantees that all the signals of the closed-loop system are semi-globally uniformly bounded, and the tracking error converges to a small neighborhood of the origin. Simulation studies are included to illustrate the effectiveness of the proposed approach.

关 键 词：nonlinear systems fuzzy control adaptive control backstepping technique adaptive state observer stability analysis 

分 类 号：O231.2[理学—运筹学与控制论]