A combined backstepping and small-gain approach to robust adaptive fuzzy control for strict-feedback nonlinear systems
A combined backstepping and small-gain approach to robust adaptive fuzzy control for strict-feedback nonlinear systems
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DOI：
10.1109/tsmca.2004.824870
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发表时间：
2004-05
期刊：
影响因子：
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通讯作者：
Yansheng Yang;G. Feng;Junsheng Ren
中科院分区：
文献类型：
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作者：
Yansheng Yang;G. Feng;Junsheng Ren
在本文中，讨论了一类严格反馈不确定的非线性系统的强大自适应跟踪控制问题。这些系统可能具有多种不确定性，称为非结构化的不确定性，这些不确定性不是线性化的，并且对边界函数没有任何先验知识。高加a-Sugeno型模糊逻辑系统用于近似不确定性。采用统一和系统的程序来通过使用输入到国家的稳定性（ISS）以及结合后替代技术和广义的小增益方法来得出两种新型的鲁棒自适应跟踪控制器。一个是系统的强大自适应模糊跟踪控制器（RAFTC），没有输入增益不确定性。另一个是具有输入增益不确定性的系统的强大自适应滑动跟踪控制器（RAFSTC）。两种算法都有两个优点，它们是在存在非结构化不确定性的情况下自适应控制系统的半全球均匀最终界限，以及具有最小学习参数化的自适应机制。四个申请示例，包括带有电动机的摆板系统，一个单链路机器人，使用执行器的船舶滚动稳定和带有柔性关节的单连接机器，用于证明拟议方案的有效性和性能。
In this paper, a robust adaptive tracking control problem is discussed for a general class of strict-feedback uncertain nonlinear systems. The systems may possess a wide class of uncertainties referred to as unstructured uncertainties, which are not linearly parameterized and do not have any prior knowledge of the bounding functions. The Takagi-Sugeno type fuzzy logic systems are used to approximate the uncertainties. A unified and systematic procedure is employed to derive two kinds of novel robust adaptive tracking controllers by use of the input-to-state stability (ISS) and by combining the backstepping technique and generalized small gain approach. One is the robust adaptive fuzzy tracking controller (RAFTC) for the system without input gain uncertainty. The other is the robust adaptive fuzzy sliding tracking controller (RAFSTC) for the system with input gain uncertainty. Both algorithms have two advantages, those are, semi-global uniform ultimate boundedness of adaptive control system in the presence of unstructured uncertainties and the adaptive mechanism with minimal learning parameterizations. Four application examples, including a pendulum system with motor, a one-link robot, a ship roll stabilization with actuator and a single-link manipulator with flexible joint, are used to demonstrate the effectiveness and performance of proposed schemes.