Fuzzy Adaptive Control of Delayed High Order Nonlinear Systems  

作　　者：Qing Zhu Ai-Guo Song Tian-Ping Zhang Yue-Quan Yang 

机构地区：[1]School of Instrument Science and Engineering, Southeast University, Nanjing 210096, PRC [2]Department of Automation, Yangzhou University, Yangzhou 225009, PRC

出　　处：《International Journal of Automation and computing》2012年第2期191-199,共9页国际自动化与计算杂志（英文版）

基　　金：supported by National Nature Science Foundation (Nos. 61174046, 61175111, 60904030, 60874045, 60874030,60835001);University Natural Science Research Project of Jiangsu Province (No. 09KJB510019);Natural Science Foundation of the Jiangsu Higher Education Institutions of China (No. 10KJB510027)

摘　　要：This paper deals with the problem of tracking control for a class of high order nonlinear systems with input delay. The unknown continuous functions of the system are estimated by fuzzy logic systems （FLS）. A state conversion method is introduced to eliminate the delayed input item. By means of the backstepping algorithm, the property of semi-globally uniformly ultimately bounded （SGUUB） of the closed-loop system is achieved. The stability of the closed-loop system is proved according to Lyapunov second theorem on stability. The tracking error is proved to be bounded which ultimately converges to an adequately small compact set. Finally, a computer simulation example of high order nonlinear systems is presented, which illustrates the effectiveness of the control scheme.This paper deals with the problem of tracking control for a class of high order nonlinear systems with input delay. The unknown continuous functions of the system are estimated by fuzzy logic systems （FLS）. A state conversion method is introduced to eliminate the delayed input item. By means of the backstepping algorithm, the property of semi-globally uniformly ultimately bounded （SGUUB） of the closed-loop system is achieved. The stability of the closed-loop system is proved according to Lyapunov second theorem on stability. The tracking error is proved to be bounded which ultimately converges to an adequately small compact set. Finally, a computer simulation example of high order nonlinear systems is presented, which illustrates the effectiveness of the control scheme.

关 键 词：Fuzzy control adaptive control time delay BACKSTEPPING nonlinear system. 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP273.4[自动化与计算机技术—控制科学与工程]