基于Backstepping设计的非线性系统自适应模糊输出反馈控制

对一类单输入单输出动态不确定非线性系统，提出一种模糊自适应Backstepping和动态信号相结合的输出反馈控制方法。设计中，首先用模糊逻辑系统逼近未知非线性函数，然后引入模糊自适应观测器估计系统的状态。其次把模糊自适应控制和Backstepping控制设计技术相结合，给出了基于观测器的模糊自适应输出反馈控制设计方法。最后基于Lyapunov函数和动态信号证明了整个闭环系统的稳定性，同时使得输出收敛到原点的一个较小区域内。仿真实例进一步验证了所提方法的有效性。

Adaptive Fuzzy Output Feedback Control of Nonlinear Systems Based on Backstepping Design

The adaptive fuzzy output feedback control approach based on backsteppmg aria a dynamic signal was proposed for SISO nonlinear system with dynamic uncertainties. In the design, first, fuzzy logic systems were used to approximate the unknown functions, and the state observer was developed for estimating the unmeasured states. Then by combining adaptive fuzzy control with backstepping control design technique, thus an adaptive fuzzy output feedback control approach was developed. Finally, based on Lyapunov function and a dynamic signal, the stability of the closed-loop system was proved and output converges were made to a small neighbordhood of the origin. A simulation study was included to illustrate the effectiveness of the proposed approach.