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Adaptive Fuzzy Control for Nonlinear Time‐Delay Systems with Dynamical Uncertainties
Author(s) -
Tong Shaocheng,
Sheng Ning,
Li Yongming
Publication year - 2012
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.466
Subject(s) - backstepping , control theory (sociology) , nonlinear system , fuzzy logic , adaptive control , fuzzy control system , bounded function , computer science , robust control , mathematics , control engineering , control (management) , engineering , artificial intelligence , physics , mathematical analysis , quantum mechanics
In this paper, an adaptive fuzzy backstepping robust control approach is proposed for a class of SISO nonlinear strict‐feedback systems. The nonlinear systems addressed in this paper are assumed to possess three uncertainties: (i) the unstructured uncertainties; (ii) the time delays; and (iii) the dynamics uncertainties. In adaptive backstepping recursive design, fuzzy logic systems are used to approximate the unstructured uncertainties. A nonlinear damping technique and L yapunov– K rasovskii functions are introduced to cancel the effects of the dynamics uncertainties and deal with the time delays, respectively. Combining the backstepping technique and a small gain approach, a stable adaptive fuzzy robust control approach is developed. It is proved that all the signals of the closed‐loop system are semi‐golablly uniformaly ultimately bounded ( SUUB ). The effectiveness of the proposed approach is illustrated by a simulation example.