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Robust adaptive fuzzy control for a class of perturbed pure-feedback nonlinear systems

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Abstract

A new design scheme of direct adaptive fuzzy controller for a class of perturbed pure-feedback nonlinear systems is proposed. The design is based on backstepping and the approximation capability of the first type fuzzy systems. A continuous robust term is adopted to minify the influence of modeling errors or disturbances. By introducing the modified integral-type Lyapunov function, the approach is able to avoid the requirement of the upper bound of the first time derivation of the high frequency control gain. Through theoretical analysis, the closed-loop control system is proven to be semi-globally uniformly ultimately bounded, with tracking error converging to a residual set.

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Authors and Affiliations

  1. Department of Computer, College of Information Engineering, Yangzhou University, 225009, Yangzhou Jiangsu, China

    Jianjiang Yu

  2. Department of Computer, Yancheng Teachers College, 224002, Yancheng Jiangsu, China

    Tianping Zhang & Haijun Gu

Authors
  1. Jianjiang Yu
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  2. Tianping Zhang
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  3. Haijun Gu
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Additional information

This work was supported by the National Natural Science Foundation of China (No.60074013 & 10371106); the Foundation of the Education bureau ofjiangsu Province (No. KK0310067); the Foundation of Information Science Subject Group ofYangzhou University (No. ISG030606).

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Yu, J., Zhang, T. & Gu, H. Robust adaptive fuzzy control for a class of perturbed pure-feedback nonlinear systems. J. Control Theory Appl. 2, 175–178 (2004). https://doi.org/10.1007/s11768-004-0065-z

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  • DOI: https://doi.org/10.1007/s11768-004-0065-z

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