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Adaptive fuzzy modular backstepping output feedback control of uncertain nonlinear systems in the presence of input saturation

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Abstract

In this paper, we present a new scheme to design adaptive fuzzy output-feedback controller for uncertain nonlinear systems in the presence of input saturation. Fuzzy logic systems are utilized to approximate the unknown nonlinear functions, and a state filter is designed to estimate unmeasured states. Combining the backstepping recursive design with modular design techniques, a new adaptive fuzzy output control scheme is synthesized. Unlike some existing control schemes for systems with input saturation, the developed controller dose not require assumptions on the states available and nonlinear systems satisfying the matching condition. It is proved that the proposed control approach can guarantee that all the signals of the resulting closed-loop system are semi-globally uniformly ultimately bounded, and the tracking error converges to a small neighborhood of the origin. A simulation is included to illustrate the effectiveness of the proposed approach.

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Acknowledgments

This work was supported in part by the National Natural Science Foundation of China (Nos. 61074014, 51179019, 60874056), the Outstanding Youth Funds of Liaoning Province (No. 2005219001), the Natural Science Foundation of Liaoning Province (No. 20102012) and China Postdoctoral Special Science Foundation (No. 200902241).

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Authors and Affiliations

  1. Navigation College, Dalian Maritime University, Dalian, 116026, Liaoning, People’s Republic of China

    Yongming Li & Tieshan Li

  2. Department of Basic Mathematics, Liaoning University of Technology, Jinzhou, 121001, Liaoning, People’s Republic of China

    Yongming Li & Shaocheng Tong

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  1. Yongming Li
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  2. Tieshan Li
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  3. Shaocheng Tong
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Correspondence to Yongming Li.

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Li, Y., Li, T. & Tong, S. Adaptive fuzzy modular backstepping output feedback control of uncertain nonlinear systems in the presence of input saturation. Int. J. Mach. Learn. & Cyber. 4, 527–536 (2013). https://doi.org/10.1007/s13042-012-0119-3

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  • DOI: https://doi.org/10.1007/s13042-012-0119-3

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