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| Received:November 08, 2005Revised:March 20, 2007 |
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| Robust adaptive fuzzy tracking control for a class of strict-feedback nonlinear systems based on backstepping technique |
| Min WANG, Xiuying WANG, Bing CHEN, Shaocheng TONG |
| (Institute of Complexity Science, Qingdao University, Qingdao Shandong 266071, China;College of Information Science and Technology, Qingdao University of Science and Technology, Qingdao Shandong 266071, China; Department of Basic Science, Liaoning Institute of Technology, Jinzhou Liaoning 121001, China) |
| Abstract: |
| In this paper, the robust adaptive fuzzy tracking control problem is discussed for a class of perturbed strict-feedback nonlinear systems. The fuzzy logic systems in Mamdani type are used to approximate unknown nonlinear functions. A design scheme of the robust adaptive fuzzy controller is proposed by use of the backstepping technique. The proposed controller guarantees semi-global uniform ultimate boundedness of all the signals in the derived closed-loop system and achieves the good tracking performance. The possible controller singularity problem which may occur in some existing adaptive control schemes with feedback linearization techniques can be avoided. In addition, the number of the on-line adaptive parameters is not more than the order of the designed system. Finally, two simulation examples are used to demonstrate the effectiveness of the proposed control scheme. |
| Key words: Nonlinear systems Fuzzy control Robust adaptive control Backstepping technique |
