Abstract
In this paper, an adaptive fuzzy tracking control is presented for a class of SISO nonlinear strict-feedback systems with unknown time delays. The proposed algorithm does not use the backstepping scheme rather it converts the strict-feedback time-delayed system to the normal form. The Mamdani-type fuzzy system is employed to approximate online the unknown lumped nonlinear function. The developed controller guarantees uniform ultimate boundedness of all signals in the closed-loop system. The designed control law is independent of the time delays and has a simple form with only one adaptive parameter vector, which is required to be updated on-line. As a result, the proposed control algorithm is considerably simpler than the previous ones based on backstepping. Simulation results are presented to verify the effectiveness of the proposed approach.
Original language | English |
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Title of host publication | Proceedings of the IEEE Conference on Decision and Control |
Pages | 3700-3705 |
Number of pages | 6 |
DOIs | |
Publication status | Published - 2010 |
Event | 2010 49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, GA, United States Duration: Dec 15 2010 → Dec 17 2010 |
Other
Other | 2010 49th IEEE Conference on Decision and Control, CDC 2010 |
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Country | United States |
City | Atlanta, GA |
Period | 12/15/10 → 12/17/10 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modelling and Simulation
- Control and Optimization