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Fuzzy adaptive robust backstepping stabilization for SISO nonlinear systems with unknown virtual control direction. (English) Zbl 1205.93136
Summary: A direct fuzzy adaptive robust control approach is proposed for a class of SISO nonlinear systems with completely unknown virtual control directions, unknown nonlinearities, unmodeled dynamics and dynamic disturbances. In the backstepping recursive design, fuzzy logic systems are employed to approximate the combined nonlinear uncertainties, a dynamic signal and Nussbaum gain technique are introduced into the control scheme to dominate the dynamic uncertainties and solve the unknown signs of virtual control directions, respectively. It is proved that the proposed robust fuzzy adaptive scheme can guarantee that all signals in the closed-loop system are semi-globally uniformly ultimately bounded. The effectiveness of the proposed approach is illustrated via three examples.
MSC:
93D21Adaptive or robust stabilization
93C10Nonlinear control systems
93C42Fuzzy control systems
93C40Adaptive control systems
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