Title :
Fuzzy backstepping control for strict-feedback nonlinear systems with mismatched uncertainties
Author :
Zibin, Xu ; Jianqing, Min
Author_Institution :
Modern Educ. Technol. Center, Zhejiang Shuren Univ., Hangzhou, China
Abstract :
Aiming at a class of strict-feedback nonlinear systems with mismatched uncertainties, an adaptive backstepping fuzzy controller design is presented. By applying backstepping design strategy and online approaching uncertainties with fuzzy approximator, the control inputs and adaptive tuning rules are derived from the Lyapunov stability theory. To deal with the problem of extreme expanded operation quantity of backstepping method, a nonlinear tracking differentiator is introduced. By choosing suitable design parameters, the developed control scheme guarantees that all the signals of the closed-loop system are uniformly ultimately bounded and the system tracking error can reach to a very small region around zero. Simulation results show the effectiveness of the proposed method.
Keywords :
Lyapunov methods; closed loop systems; feedback; fuzzy control; nonlinear control systems; Lyapunov stability theory; adaptive tuning rule; backstepping design strategy; closed loop system; fuzzy backstepping control; mismatched uncertainty; nonlinear tracking differentiator; strict feedback nonlinear system; system tracking error; Adaptive systems; Approximation methods; Backstepping; Fuzzy systems; Lyapunov method; Nonlinear systems; Uncertainty; adaptive fuzzy control; backstepping; mismatched uncertainty nonlinear system;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-6712-9
DOI :
10.1109/WCICA.2010.5554619