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Observer-based adaptive fuzzy backstepping dynamic surface control for a class of non-linear systems with unknown time delays

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4 Author(s)
S. Tong ; Department of Basic Mathematics, Liaoning University of Technology, Jinzhou 121000, Liaoning, People's Republic of China ; Y. Li ; G. Feng ; T. Li

An adaptive fuzzy backstepping control approach is considered for a class of non-linear systems with unknown time delays and immeasurable states. Fuzzy logic systems are used to approximate the unknown non-linear functions, and a fuzzy state observer is designed for estimating the immeasurable states. By combining the adaptive backstepping technique and dynamic surface control technique, an adaptive fuzzy output-feedback backstepping control approach is developed. The proposed control method not only overcomes the problem of `explosion of complexity` inherent in typical backstepping design approaches but also overcomes the problem of unavailable state measurements. It is proved that all the signals of the closed-loop adaptive control system are semi-globally uniformly ultimately bounded, and the observer and tracking errors converge to a small neighbourhood of the origin with appropriate choice of design parameters. Simulation results are provided to show the effectiveness of the proposed approach.

Published in:

IET Control Theory & Applications  (Volume:5 ,  Issue: 12 )