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Composite fuzzy control of a class of uncertain nonlinear systems with disturbance observer

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Abstract

In this paper, a novel composite control, using fuzzy logic system (FLS) and disturbance observer, is proposed for a class of uncertain nonlinear systems with actuator saturation and external disturbances. FLS is employed to approximate the unknown nonlinearities and a serial–parallel identification model is introduced to construct the composite updating law. The disturbance observer is developed to estimate the unknown compounded disturbance composed of the unknown external disturbance, the unknown fuzzy approximation error and the effect of actuator saturation. The uniformly ultimate boundedness of the closed-loop tracking error can be guaranteed rigorously via Lyapunov stability analysis. Simulation results are presented to demonstrate the effectiveness of the proposed method.

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Acknowledgments

This work was supported by the National Science Foundation of China (Grants Nos.: 61304098, 61134004, 61473120), Natural Science Basic Research Plan in Shaanxi Province (Grant No.: 2014JQ8326) and State Key Laboratory of Robotics and System (HIT) grant SKLRS-2014-MS-05.

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Authors and Affiliations

  1. School of Automation, Northwestern Polytechnical University, Xi’an, China

    Bin Xu & Zhongke Shi

  2. National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi’an, China

    Bin Xu

  3. School of Computing and Mathematics, Plymouth University, Plymouth, UK

    Chenguang Yang

  4. College of Automation Science and Engineering, South China University of Technology, Guangzhou, China

    Chenguang Yang

Authors
  1. Bin Xu
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  2. Zhongke Shi
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  3. Chenguang Yang
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Correspondence to Bin Xu.

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Xu, B., Shi, Z. & Yang, C. Composite fuzzy control of a class of uncertain nonlinear systems with disturbance observer. Nonlinear Dyn 80, 341–351 (2015). https://doi.org/10.1007/s11071-014-1872-5

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  • DOI: https://doi.org/10.1007/s11071-014-1872-5

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