Direct adaptive fuzzy backstepping robust control for single input and single output uncertain nonlinear systems using small-gain approach

被引:52
作者
Tong, Shaocheng [1 ]
He, Xianglei [1 ]
Li, Yongming [1 ]
机构
[1] Liaoning Univ Technol, Dept Math, Jinzhou 121001, Peoples R China
基金
中国国家自然科学基金;
关键词
Nonlinear system; Unmodeled dynamics; Adaptive fuzzy control; Backstepping technique; Small-gain approach; TIME-DELAY SYSTEMS; TRACKING CONTROL; FEEDBACK CONTROL; DESIGN;
D O I
10.1016/j.ins.2009.12.033
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this paper, a direct adaptive fuzzy robust control approach is proposed for single input and single output (SISO) strict-feedback nonlinear systems with nonlinear uncertainties, unmodeled dynamics and dynamical disturbances. No prior knowledge of the boundary of the nonlinear uncertainties is required. Fuzzy logic systems are used to approximate the intermediate stabilizing functions, and a stable direct adaptive fuzzy backstepping robust control approach is developed by combining the backstepping technique with the fuzzy adaptive control theory. The stability of the closed-loop system and the convergence of the system output are proved based on the small-gain theorem. Simulation studies are conducted to illustrate the effectiveness of the proposed approach. (C) 2010 Elsevier Inc. All rights reserved.
引用
收藏
页码:1738 / 1758
页数:21
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