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		Fan HONG,Shuzhi Sam GE,Chee Khiang PANG,Tong Heng LEE.[en_title][J].Control Theory and Technology,2010,8(2):125~138.[Copy]

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FanHONG,ShuzhiSamGE,CheeKhiangPANG,TongHengLEE
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DOI：10.1007/s11768-010-0006-y

Received:January 08, 2010Revised:January 08, 2010

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Robust adaptive neuro-fuzzy control of uncertain nonholonomic systems

Fan HONG,Shuzhi Sam GE,Chee Khiang PANG,Tong Heng LEE

(Data Storage Institute, A*STAR;National University of Singapore)

Abstract:

In this paper, we present an adaptive neuro-fuzzy controller design for a class of uncertain nonholonomic systems in the perturbed chained form with unknown virtual control coefficients and strong drift nonlinearities. The robust adaptive neuro-fuzzy control laws are developed using state scaling and backstepping. Semiglobal uniform ultimate boundedness of all the signals in the closed-loop are guaranteed, and the system states are proven to converge to a small neighborhood of zero. The control performance of the closed-loop system is guaranteed by appropriately choosing the design parameters. By using fuzzy logic approximation, the proposed control is free of control singularity problem. An adaptive control-based switching strategy is proposed to overcome the uncontrollability problem associated with x0(t0) = 0.

Key words: Neuro-fuzzy control, nonholonomic systems, motion control