DIRECT ADAPTIVE ROBUST FUZZY CONTROL FOR NONLINEAR STRICT-FEEDBACK SYSTEMS

摘要：

Using backstepping method, a direct adaptive robust fuzzy control algorithm is proposed for a class of uncertain nonlinear strict-feedback systems in this paper. Fuzzy systems are utilized to approximate unknown parts of the desired control inputs. The key assumption is that the norms of the optimal approximation parameter vectors and the approximation errors are bounded, and the bounds are unknown. The proposed algorithm reduces on-line computation burden and improves the robust control performance of the system. It is proven that all the signals in the closed-loop system are uniformly ultimately bounded and the tracking error converges to a small neighborhood of zero by choosing appropriately design parameter. A simulation example is employed to illustrate the effectiveness of the proposed algorithm.

关键词： Adaptive robust control fuzzy control uncertain nonlinear systems the strict-feedback form

作者: YAN-JUN LIU HONG-REN ZHAN WEI WANG YI-SHA LIU

作者单位: Research Center of Information and Control, Dalian University of Technology, Dalian 116023, China Department of Mechanical Engineering, Shenyang Institute of Chemical Technology, Shenyang, 110005, C

会议类型: 国际会议

会议名称: 2006 International Conference on Machine Learning and Cybernetics(IEEE第五届机器学习与控制论坛)

会议地点: 大连

会议语种:英文

页码: 1895-1900

在线出版日期: 2006-08-13（万方平台首次上网日期，不代表论文的发表时间）