Robust Adaptive Tracking Control for Nonlinear Systems Based on Bounds of Fuzzy Approximation Parameters

被引：279

作者：

Liu, Yan-Jun ^{[1
]}

Wang, Wei ^{[2
]}

Tong, Shao-Cheng ^{[1
]}

Liu, Yi-Sha ^{[2
]}

机构：

[1] Liaoning Univ Technol, Dept Math & Phys, Jinzhou 121001, Peoples R China

[2] Dalian Univ Technol, Res Ctr Informat & Control, Dalian 116023, Peoples R China

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS | 2010年 / 40卷 / 01期

基金：

中国国家自然科学基金;

关键词：

Adaptive tracking control; backstepping technique; robust fuzzy control; strict-feedback form; uncertainty nonlinear multi-input (MIMO) systems; NEURAL-NETWORK CONTROL; DESIGN;

D O I：

10.1109/TSMCA.2009.2030164

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

080201 [机械制造及其自动化];

摘要：

A robust adaptive fuzzy control approach is developed for a class of multi-input-multi-output (MIMO) nonlinear systems with modeling uncertainties and external disturbances by using both the approximation property of the fuzzy logic systems and the backstepping technique. The MIMO systems are composed of interconnected subsystems in the strict-feedback form. The main characteristics of the developed approach are that the online computation burden is alleviated and the robustness to dynamic uncertainties and external disturbances is improved. It is proven that all the signals of the resulting closed-loop system are uniformly bounded and that the tracking errors converge to a small neighborhood around zero. Two simulation experiments are presented to demonstrate the feasibility of the approach developed in this paper.

引用

页码：170 / 184

页数：15

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