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Robust adaptive fuzzy backstepping output feedback tracking control for nonlinear system with dynamic uncertainties

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Abstract

In this paper, an adaptive fuzzy output feedback control approach based on backstepping design is proposed for a class of SISO strict feedback nonlinear systems with unmeasured states, nonlinear uncertainties, unmodeled dynamics, and dynamical disturbances. Fuzzy logic systems are employed to approximate the nonlinear uncertainties, and an adaptive fuzzy state observer is designed for the states estimation. By combining backstepping technique with the fuzzy adaptive control approach, a stable adaptive fuzzy output feedback robust control is constructed recursively, in which nonlinear damping terms and a dynamical signal are introduced to counteract the nonlinear uncertainties and dominate the dynamic disturbances, respectively. It is proved that the proposed adaptive fuzzy control approach guarantees that all the signals of the closed-loop system are semi-globally uniformly bounded, and the tracking error converges to a small neighborhood of the origin. Simulation studies are included to illustrate the effectiveness of the proposed approach.

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Authors and Affiliations

  1. Department of Basic Mathematics, Liaoning University of Technology, Jinzhou, 121001, China

    ShaoCheng Tong & YongMing Li

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  1. ShaoCheng Tong
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  2. YongMing Li
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Correspondence to ShaoCheng Tong.

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Tong, S., Li, Y. Robust adaptive fuzzy backstepping output feedback tracking control for nonlinear system with dynamic uncertainties. Sci. China Inf. Sci. 53, 307–324 (2010). https://doi.org/10.1007/s11432-010-0031-y

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