Fuzzy adaptive backstepping robust control for SISO nonlinear system with dynamic uncertainties |
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Authors: | Shaocheng Tong Yongming Li Peng Shi |
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Affiliation: | a Department of Basic Mathematics, Liaoning University of Technology, Jinzhou, Liaoning 121001, China b Faculty of Advanced Technology, University of Glamorgan, Pontypridd, CF37 1Dl, United Kingdom |
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Abstract: | In this paper, a fuzzy adaptive backstepping design procedure is proposed for a class of nonlinear systems with three types of uncertainties: (i) nonlinear uncertainties; (ii) unmodeled dynamics and (iii) dynamic disturbances. The fuzzy logic systems are used to approximate the nonlinear uncertainties, nonlinear damping terms are used to counteract the dynamic disturbances and fuzzy approximation errors, and a dynamic signal is introduced to dominate the unmodeled dynamics. The derived fuzzy adaptive control approach guarantees the global boundedness property for all the signals and states, and at the same time, steers the output to a small neighborhood of the origin. Simulation studies are included to illustrate the effectiveness of the proposed approach. |
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Keywords: | Nonlinear systems Fuzzy adaptive control Robust control Backstepping technique |
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