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Adaptive Backstepping Fuzzy Control for Nonlinearly Parameterized Systems With Periodic Disturbances

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4 Author(s)
Weisheng Chen ; Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education of China and the Department of Applied Mathematics, Xidian University, Xi’an, China ; Licheng Jiao ; Ruihong Li ; Jing Li

A novel-function approximator is constructed by combining a fuzzy-logic system with a Fourier series expansion in order to model unknown periodically disturbed system functions. Then, an adaptive backstepping tracking-control scheme is developed, where the dynamic-surface-control approach is used to solve the problem of “explosion of complexity” in the backstepping design procedure, and the time-varying parameter-dependent integral Lyapunov function is used to analyze the stability of the closed-loop system. The semiglobal uniform ultimate boundedness of all closed-loop signals is guaranteed, and the tracking error is proved to converge to a small residual set around the origin. Two simulation examples are provided to illustrate the effectiveness of the control scheme designed in this paper.

Published in:

IEEE Transactions on Fuzzy Systems  (Volume:18 ,  Issue: 4 )