DocumentCode :
1015307
Title :
Intelligent Robust Tracking Control for a Class of Uncertain Strict-Feedback Nonlinear Systems
Author :
Chang, Yeong-Chan
Author_Institution :
Dept. of Electr. Eng., Kun-Shan Univ., Tainan
Volume :
39
Issue :
1
fYear :
2009
Firstpage :
142
Lastpage :
155
Abstract :
This paper addresses the problem of designing robust tracking controls for a large class of strict-feedback nonlinear systems involving plant uncertainties and external disturbances. The input and virtual input weighting matrices are perturbed by bounded time-varying uncertainties. An adaptive fuzzy-based (or neural-network-based) dynamic feedback tracking controller will be developed such that all the states and signals of the closed-loop system are bounded and the trajectory tracking error should be as small as possible. First, the adaptive approximators with linearly parameterized models are designed, and a partitioned procedure with respect to the developed adaptive approximators is proposed such that the implementation of the fuzzy (or neural network) basis functions depends only on the state variables but does not depend on the tuning approximation parameters. Furthermore, we extend to design the nonlinearly parameterized adaptive approximators. Consequently, the intelligent robust tracking control schemes developed in this paper possess the properties of computational simplicity and easy implementation. Finally, simulation examples are presented to demonstrate the effectiveness of the proposed control algorithms.
Keywords :
adaptive control; approximation theory; closed loop systems; control system synthesis; feedback; fuzzy control; linear systems; matrix algebra; neurocontrollers; nonlinear control systems; robust control; time-varying systems; tracking; uncertain systems; adaptive approximator; adaptive fuzzy-based dynamic feedback tracking controller; bounded time-varying uncertainty; closed-loop system; intelligent robust tracking control design; linear parameterized model; matrix algebra; neural network-based dynamic feedback tracking controller; trajectory tracking error; uncertain strict-feedback nonlinear system; Adaptive approximators; partitioned procedure; robust tracking control; strict-feedback nonlinear systems; Algorithms; Computer Simulation; Feedback; Fuzzy Logic; Neural Networks (Computer); Nonlinear Dynamics; Robotics;
fLanguage :
English
Journal_Title :
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
Publisher :
ieee
ISSN :
1083-4419
Type :
jour
DOI :
10.1109/TSMCB.2008.2002854
Filename :
4694092
Link To Document :
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