CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Adaptive dynamic surface control of a class of uncertain nonlinear systems in pure-feedback form using fuzzy backstepping approach
Zeng-Guang Hou; Anmin Zou; Fang-Xiang Wu; Long Cheng; Min Tan
2008
Conference NameIEEE International Conference on Automation Science and Engineering
Conference DateAUG 23-26, 2008
Conference PlaceWashington DC
CountryUSA
AbstractThis paper presents an adaptive fuzzy controller for the robust backstepping control of a class of uncertain nonlinear systems in pure-feedback form. The proposed approach incorporates the Nussbaum gain function (NGF) and the dynamic surface control (DSC) into the existing adaptive fuzzy control scheme. The major features of the proposed method are that: 1) the two problems, control directions and control singularity, are well solved by use of the NGF; 2) the problem of "explosion of complexity" inherent to the existing backstepping methods is eliminated by introducing the DSC technique; 3) the proposed control scheme has the adaptive mechanism with fewer adaptive laws, which results in less computation time burden. The performance of the proposed approach is demonstrated through a simulation example.
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23157
Collection复杂系统管理与控制国家重点实验室_先进机器人
Recommended Citation
GB/T 7714
Zeng-Guang Hou,Anmin Zou,Fang-Xiang Wu,et al. Adaptive dynamic surface control of a class of uncertain nonlinear systems in pure-feedback form using fuzzy backstepping approach[C],2008.
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