Robust Adaptive Fuzzy Control of Nonlinear Systems with Unknown and Time-Varying Saturation

In this paper, a robust adaptive fuzzy control approach is proposed for a class of nonlinear systems in strict‐feedback form with the unknown time‐varying saturation input. To deal with the time‐varying saturation problem, a novel controller separation approach is proposed in the literature to separ...

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Bibliographic Details
Published in:Asian journal of control 2015-05, Vol.17 (3), p.791-805
Main Authors: Lai, Guanyu, Liu, Zhi, Zhang, Yun, Chen, Xin, Philip Chen, Chun Lung
Format: Article
Language:English
Subjects:
adaptive fuzzy control
Control systems
dynamic surface control technique
Fuzzy logic
Nonlinear systems
strict-feedback system
unknown time-varying saturation
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Summary:In this paper, a robust adaptive fuzzy control approach is proposed for a class of nonlinear systems in strict‐feedback form with the unknown time‐varying saturation input. To deal with the time‐varying saturation problem, a novel controller separation approach is proposed in the literature to separate the desired control signal from the practical constrained control input. Furthermore, an optimized adaptation method is applied to the dynamic surface control design to reduce the number of adaptive parameters. By utilizing the Lyapunov synthesis, the fuzzy logic system technique and the Nussbaum function technique, an adaptive fuzzy control algorithm is constructed to guarantee that all the signals in the closed‐loop control system remain semiglobally uniformly ultimately bounded, and the tracking error is driven to an adjustable neighborhood of the origin. Finally, some numerical examples are provided to validate the effectiveness of the proposed control scheme in the literature.
ISSN:1561-8625
1934-6093
DOI:10.1002/asjc.921