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Li, Yulin; Xu, Ning; Niu, Ben; Chang, Yi; Zhao, Jinfeng; Zhao, Xudong

Small-gain technique-based adaptive fuzzy command filtered control for uncertain nonlinear systems with unmodeled dynamics and disturbances. (English) Zbl 1543.93221

Int. J. Adapt. Control Signal Process. 35, No. 9, 1664-1684 (2021).
Summary: This article studies the adaptive tracking control problem for a class of uncertain nonlinear systems with unmodeled dynamics and disturbances. First, a fuzzy state observer is established to estimate unmeasurable states. To overcome the problem of calculating explosion caused by the repeated differentiation of the virtual control signals, the command filter with a compensation mechanism is applied to the controller design procedure. Meanwhile, with the help of the fuzzy logic systems and the backstepping technique, an adaptive fuzzy control scheme is proposed, which guarantees that all signals in the closed-loop systems are bounded, and the tracking error can converge to a small region around the origin. Furthermore, the stability of the systems is proven to be input-to-state practically stable based on the small-gain theorem. Finally, a simulation example verifies the effectiveness of the proposed control approach.
{© 2021 John Wiley & Sons Ltd.}

Cited in 20 Documents

MSC:

93C42 Fuzzy control/observation systems
93C40 Adaptive control/observation systems
93C10 Nonlinear systems in control theory
93B52 Feedback control
93C30 Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems)
93D25 Input-output approaches in control theory

Keywords:

adaptive fuzzy control; backstepping; command filter; small-gain approach; unmodeled dynamics
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References:

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