Fuzzy adaptive robust backstepping stabilization for SISO nonlinear systems with unknown virtual control direction |
| |
Authors: | Shaocheng Tong Yongming Li |
| |
Affiliation: | Department of Basic Mathematics, Liaoning University of Technology, Jinzhou, Liaoning 121001, China |
| |
Abstract: | In this paper, a direct fuzzy adaptive robust control approach is proposed for a class of SISO nonlinear systems with completely unknown virtual control directions, unknown nonlinearities, unmodeled dynamics and dynamic disturbances. In the backstepping recursive design, fuzzy logic systems are employed to approximate the combined nonlinear uncertainties, a dynamic signal and Nussbaum gain technique are introduced into the control scheme to dominate the dynamic uncertainties and solve the unknown signs of virtual control directions, respectively. It is proved that the proposed robust fuzzy adaptive scheme can guarantee the all signals in the closed-loop system are semi-globally uniformly ultimately bounded. The effectiveness of the proposed approach is illustrated via three examples. |
| |
Keywords: | Fuzzy adaptive control Nonlinear systems Backstepping Unknown control direction Stability |
本文献已被 ScienceDirect 等数据库收录! |
|