A novel adaptive fuzzy variable structure control for a class of nonlinear uncertain systems via backstepping
Journal
Fuzzy Sets and Systems
Journal Volume
122
Journal Issue
1
Pages
83-106
Date Issued
2001
Author(s)
Hsu, F.-Y.
Abstract
This paper presents a new design of adaptive fuzzy variable structure control to solve the traditional problem of model reference adaptive control (MRAC) for a class of single-input, single-output minimum-phase uncertain nonlinear systems via backstepping. Instead of taking the tedious coordinate transformation and yielding a "hard" high-gain controller, we introduce smooth B-spline-type membership functions into the controller so as to compensate for the uncertainties much "softer", i.e., in a much smoother and locally weighted manner. To be rigorous, it is shown that the stability of the closed-loop system can be assured and the tracking error can globally approach to an arbitrary preset dead-zone range. In order to demonstrate the effectiveness of the developed novel controller, an example is extensively simulated to provide quite satisfactory performance. © 2001 Elsevier Science B.V.
Subjects
Adaptive control; B-spline; Backstepping; Fuzzy control; Variable structure control
Other Subjects
Control system analysis; Fuzzy control; Mathematical models; Membership functions; Nonlinear control systems; System stability; Uncertain systems; Backstepping; Model reference adaptive control; Variable structure control; Adaptive control systems
Type
journal article