Details

Autor(en) / Beteiligte

• Liu, Yan-Jun
• Wang, Wei
• Tong, Shao-Cheng
• Liu, Yi-Sha

Titel

Robust Adaptive Tracking Control for Nonlinear Systems Based on Bounds of Fuzzy Approximation Parameters

Ist Teil von

• IEEE transactions on systems, man and cybernetics. Part A, Systems and humans, 2010-01, Vol.40 (1), p.170-184

Ort / Verlag

IEEE

Erscheinungsjahr

2010

Link zum Volltext

• IEEE_Xplore

Quelle

IEEE Xplore Digital Library

Beschreibungen/Notizen

• A robust adaptive fuzzy control approach is developed for a class of multi-input-multi-output (MIMO) nonlinear systems with modeling uncertainties and external disturbances by using both the approximation property of the fuzzy logic systems and the backstepping technique. The MIMO systems are composed of interconnected subsystems in the strict-feedback form. The main characteristics of the developed approach are that the online computation burden is alleviated and the robustness to dynamic uncertainties and external disturbances is improved. It is proven that all the signals of the resulting closed-loop system are uniformly bounded and that the tracking errors converge to a small neighborhood around zero. Two simulation experiments are presented to demonstrate the feasibility of the approach developed in this paper.