Fuzzy Adaptive Control Design and Discretization for a Class of Nonlinear Uncertain Systems

In this paper, tracking control problems are investigated for a class of uncertain nonlinear systems in lower triangular form. First, a state-feedback controller is designed by using adaptive backstepping technique and the universal approximation ability of fuzzy logic systems. During the design pro...

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Bibliographic Details
Published in:IEEE transactions on cybernetics 2016-06, Vol.46 (6), p.1476-1483
Main Authors: Zhao, Xudong, Shi, Peng, Zheng, Xiaolong
Format: Article
Language:English
Subjects:
Adaptive control
Backstepping
Closed loop systems
Design
fuzzy approximator
Fuzzy logic
Nonlinear systems
sampled-data control
Target tracking
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Summary:In this paper, tracking control problems are investigated for a class of uncertain nonlinear systems in lower triangular form. First, a state-feedback controller is designed by using adaptive backstepping technique and the universal approximation ability of fuzzy logic systems. During the design procedure, a developed method with less computation is proposed by constructing one maximum adaptive parameter. Furthermore, adaptive controllers with nonsymmetric dead-zone are also designed for the systems. Then, a sampled-data control scheme is presented to discretize the obtained continuous-time controller by using the forward Euler method. It is shown that both proposed continuous and discrete controllers can ensure that the system output tracks the target signal with a small bounded error and the other closed-loop signals remain bounded. Two simulation examples are presented to verify the effectiveness and applicability of the proposed new design techniques.
ISSN:2168-2267
2168-2275
DOI:10.1109/TCYB.2015.2447153