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Fuzzy-identification-based adaptive backstepping control using a self-organizing fuzzy system

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Abstract

In this paper, a fuzzy-identification-based adaptive backstepping control (FABC) scheme is proposed. The FABC system is composed of a backstepping controller and a robust controller. The backstepping controller, which uses a self-organizing fuzzy system (SFS) with the structure and parameter learning phases to on-line estimate the controlled system dynamics, is the principal controller, and the robust controller is designed to dispel the effect of approximation error introduced by the SFS. The developed SFS automatically generates and prunes the fuzzy rules by the proposed structure adaptation algorithm and the parameters of the fuzzy rules and membership functions tunes on-line in the Lyapunov sense. Thus, the overall closed-loop FABC system can guarantee that the tracking error and parameter estimation error are uniformly ultimately bounded; and the tracking error converges to a desired small neighborhood around zero. Finally, the proposed FABC system is applied to a chaotic dynamic system to show its effectiveness. The simulation results verify that the proposed FABC system can achieve favorable tracking performance even with unknown controlled system dynamics.

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Acknowledgments

The authors appreciate the partial financial support from the National Science Council of Republic of China under grant NSC 96-2218-E-216-001. The authors would like to express their gratitude to the Reviewers for their valuable comments and suggestions.

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Authors and Affiliations

  1. Department of Electrical and Control Engineering, National Chiao Tung University, Hsinchu, 300, Taiwan, ROC

    Pin-Cheng Chen & Chi-Hsu Wang

  2. Department of Electrical Engineering, Chung Hua University, Hsinchu, 300, Taiwan, ROC

    Chun-Fei Hsu

  3. Department of Electrical Engineering, National Taipei University of Technology, Taipei, 106, Taiwan, ROC

    Tsu-Tian Lee

Authors
  1. Pin-Cheng Chen
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  2. Chun-Fei Hsu
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  3. Tsu-Tian Lee
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  4. Chi-Hsu Wang
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Correspondence to Chun-Fei Hsu.

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Chen, PC., Hsu, CF., Lee, TT. et al. Fuzzy-identification-based adaptive backstepping control using a self-organizing fuzzy system. Soft Comput 13, 635–647 (2009). https://doi.org/10.1007/s00500-008-0370-4

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  • DOI: https://doi.org/10.1007/s00500-008-0370-4

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