Fuzzy Adaptive Output Feedback Control of Uncertain Nonlinear Systems With Prescribed Performance
Fuzzy Adaptive Output Feedback Control of Uncertain Nonlinear Systems With Prescribed Performance
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DOI：
10.1109/tcyb.2017.2692767
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发表时间：
2018-05
影响因子：
11.8
通讯作者：
Jinxi Zhang;Guang‐Hong Yang
中科院分区：
文献类型：
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作者：
Jinxi Zhang;Guang‐Hong Yang
本文研究一类具有未知非线性和不可测系统状态的严格反馈系统的跟踪控制问题。提出了一种低复杂度的自适应模糊输出反馈控制方案。在控制器设计中，首先采用模糊自适应状态观测器来估计不可测状态。然后，一种新的误差转换方法，连同一个新的修改机制，以保证有限时间收敛到一个预定义的区域的输出误差，并确保闭环稳定性。与现有方法相比，该方法的主要优点在于：1）不需要额外的指令滤波器或辅助动态面控制技术，仍然可以解决复杂性爆炸的问题; 2）设计过程与初始条件无关。最后，通过两个实例进一步说明了上述理论结果。
This paper investigates the tracking control problem for a family of strict-feedback systems in the presence of unknown nonlinearities and immeasurable system states. A low-complexity adaptive fuzzy output feedback control scheme is proposed, based on a backstepping method. In the control design, a fuzzy adaptive state observer is first employed to estimate the unmeasured states. Then, a novel error transformation approach together with a new modification mechanism is introduced to guarantee the finite-time convergence of the output error to a predefined region and ensure the closed-loop stability. Compared with the existing methods, the main advantages of our approach are that: 1) without using extra command filters or auxiliary dynamic surface control techniques, the problem of explosion of complexity can still be addressed and 2) the design procedures are independent of the initial conditions. Finally, two practical examples are performed to further illustrate the above theoretic findings.