Adaptive Fuzzy Control of Nonlinear Systems in Pure Feedback Form Based on Input-to-State Stability

作者：Zhang, Tian-Ping^*; Wen, Hui; Zhu, Qing

来源：IEEE Transactions on Fuzzy Systems, 2010, 18(1): 80-93.

DOI：10.1109/TFUZZ.2009.2036906

• Adaptive control
• backstepping
• dead zone
• fuzzy control
• input-to-state stability (ISS)
• pure-feedback systems
• small gain theorem

Using mean value theorem and backstepping technique, a robust adaptive fuzzy control scheme is proposed for a class of pure-feedback nonlinear systems with unknown dead zone and disturbances via input-to-state stability. Takagi-Sugeno (T-S) type fuzzy logic systems are used to approximate the uncertain nonlinear functions and fewer learning parameters need to be adjusted online. Based on small gain theorem, the closed-loop control system is proven to be semiglobally uniformly ultimately bounded, and the tracking error converges to a neighborhood of zero by choosing appropriate parameters. Simulation results demonstrate the effectiveness of the control scheme.

• 出版日期2010-2
• 单位扬州大学