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Adaptive fuzzy control for a class of uncertain nonaffine nonlinear systems. (English) Zbl 1121.93037
Summary: An adaptive fuzzy control approach is proposed for a class of multiple-input-multiple-output (MIMO) nonlinear systems with completely unknown nonaffine functions. The MIMO systems are composed of n subsystems and each subsystem is in the nested lower triangular form. It is difficult and complicated to control this class of systems due to the existence of unknown nonaffine functions and the couplings among the nested subsystems. This difficulty is overcome by introducing some special type Lyapunov functions and taking advantage of the mean-value theorem, the backstepping design method and the approximation property of the fuzzy systems. The proposed control approach can guarantee that all the signals in the closed-loop system are bounded. A simulation experiment is utilized to verify the feasibility of the proposed approach.
MSC:
93C42Fuzzy control systems
93C40Adaptive control systems
93C10Nonlinear control systems