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		Jianjiang YU,Tianping ZHANG,Haijun GU.[en_title][J].Control Theory and Technology,2004,2(2):175~178.[Copy]

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JianjiangYU,TianpingZHANG,HaijunGU
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Received:September 16, 2003Revised:May 31, 2004

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Robust adaptive fuzzy control for a class of perturbed pure-feedback nonlinear systems

Jianjiang YU, Tianping ZHANG, Haijun GU

(Department of Computer, College of Information Engineering, Yangzhou University,Yangzhou Jiangsu 225009, China;Department of Computer, Yancheng Teachers College, Yancheng Jiangsu 224002, China)

Abstract:

A new design scheme of direct adaptive fuzzy controller for a class of perturbed pure-feedback nonlinear systems is proposed. The design is based on backstepping and the approximation capability of the first type fuzzy systems. A continuous robust term is adopted to minify the influence of modeling errors or disturbances. By introducing the modified integral-type Lyapunov function,the approach is able to avoid the requirement of the upper bound of the first time derivation of the high frequency control gain.Through theoretical analysis,the closed-loop control system is proven to be semi-globally uniformly ultimately bounded, with tracking error converging to a residual set.

Key words: Pure-feedback nonlinear system Backsteppmg Fuzzy control Robustness