ROBUST ADAPTIVE FUZZY TRACKING CONTROL FOR A CLASS OF PERTURBED UNCERTAIN NONLINEAR SYSTEMS WITH UVCGF

Author:

LI TIESHAN1,YANG YANSHENG1,HU JIANGQIANG1,YANG LINJIA1

Affiliation:

1. Navigation College, Dalian Maritime University, Dalian, 116026, P. R. China

Abstract

In this paper, a robust adaptive fuzzy controller is presented for a wide class of perturbed uncertain nonlinear system with unknown virtual control gain function (UVCGF). The Mamdani fuzzy system is used to approximate unstructured uncertain functions in the system. The proposed algorithm, which incorporated Nussbaum-type gain into the decoupled backstepping approach, does not require a priori knowledge of the sign of UVCGF, and circumvents the controller-singularity problem gracefully in some existing literatures. It proved that the tracking error can be driven to a small residual set while keeping all signals in the closed-loop system semi-globally uniformly ultimately bounded (SGUUB). Simulation results are presented to validate the effectiveness of the proposed controller.

Publisher

World Scientific Pub Co Pte Lt

Subject

Applied Mathematics,Information Systems,Signal Processing

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