Adaptive Fuzzy Output-Feedback Control with Prescribed Performance for Uncertain Nonlinear Systems

In this paper, an adaptive fuzzy output feedback control approach with prescribed performance is proposed for a class of uncertain nonlinear strict-feedback systems with unmeasured states. With the help of fuzzy logic systems identifying the unknown nonlinear system, a fuzzy state observer is established for estimating the unmeasured states. Under the framework of the backstepping control design and incorporated by the predefined performance technique, a new adaptive fuzzy output-feedback control method is developed. It is shown that all the signals of the resulting closed-loop system are bounded and the tracking error remains an adjustable neighborhood of the origin with the prescribed performance bounds. The simulation examples and comparison with the previous control methods are provided to show the effectiveness of the proposed control approach.

[1]  Shaocheng Tong,et al.  Observer-Based Adaptive Fuzzy Backstepping Control for a Class of Stochastic Nonlinear Strict-Feedback Systems , 2011, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[2]  Yong Tang,et al.  Decentralised adaptive fuzzy control of coordinated multiple mobile manipulators interacting with non-rigid environments , 2013 .

[3]  Miroslav Krstic,et al.  Nonlinear and adaptive control de-sign , 1995 .

[4]  Li-Xin Wang,et al.  Adaptive fuzzy systems and control - design and stability analysis , 1994 .

[5]  Shaocheng Tong,et al.  A Combined Backstepping and Stochastic Small-Gain Approach to Robust Adaptive Fuzzy Output Feedback Control , 2013, IEEE Transactions on Fuzzy Systems.

[6]  Shengyuan Xu,et al.  Adaptive Output-Feedback Fuzzy Tracking Control for a Class of Nonlinear Systems , 2011, IEEE Transactions on Fuzzy Systems.

[7]  Charalampos P. Bechlioulis,et al.  Robust Adaptive Control of Feedback Linearizable MIMO Nonlinear Systems With Prescribed Performance , 2008, IEEE Transactions on Automatic Control.

[8]  Chong Lin,et al.  Direct adaptive neural tracking control for a class of stochastic pure‐feedback nonlinear systems with unknown dead‐zone , 2013 .

[9]  Shaocheng Tong,et al.  Observer-based adaptive fuzzy control for SISO nonlinear systems , 2004, Fuzzy Sets Syst..

[10]  Chih-Min Lin,et al.  Adaptive Fuzzy Total Sliding-Mode Control of Unknown Nonlinear Systems , 2012 .

[11]  Li-Xin Wang,et al.  Adaptive fuzzy systems and control , 1994 .

[12]  Shumin Fei,et al.  Adaptive Fuzzy Tracking Control of a Class of Stochastic Nonlinear Systems with Unknown Dead-Zone Input , 2008 .

[13]  Shaocheng Tong,et al.  Fuzzy-Adaptive Decentralized Output-Feedback Control for Large-Scale Nonlinear Systems With Dynamical Uncertainties , 2010, IEEE Transactions on Fuzzy Systems.

[14]  S. Yoo.  Brief Paper - Fault-tolerant control of strict-feedback non-linear time-delay systems with prescribed performance , 2013 .

[15]  Robert M. Sanner,et al.  Gaussian Networks for Direct Adaptive Control , 1991, 1991 American Control Conference.

[16]  Guang-Ren Duan,et al.  Trilateral Teleoperation of Adaptive Fuzzy Force/Motion Control for Nonlinear Teleoperators With Communication Random Delays , 2013, IEEE Transactions on Fuzzy Systems.

[17]  Bor-Sen Chen,et al.  H∞ tracking design of uncertain nonlinear SISO systems: adaptive fuzzy approach , 1996, IEEE Trans. Fuzzy Syst..

[18]  Yongming Li,et al.  Fuzzy adaptive observer backstepping control for MIMO nonlinear systems , 2009, Fuzzy Sets Syst..

[19]  Gang Sun,et al.  Neural adaptive control for leader–follower flocking of networked nonholonomic agents with unknown nonlinear dynamics , 2014 .

[20]  Huaguang Zhang,et al.  A fuzzy basis function vector-based multivariable adaptive controller for nonlinear systems , 2000, IEEE Trans. Syst. Man Cybern. Part B.

[21]  Xin-Ping Guan,et al.  Adaptive Fuzzy Output-Feedback Controller Design for Nonlinear Time-Delay Systems With Unknown Control Direction , 2009, IEEE Trans. Syst. Man Cybern. Part B.

[22]  Wei-Shou Chan,et al.  Adaptive Fuzzy Dynamic Surface Control for Ball and Beam System , 2011 .

[23]  Shuzhi Sam Ge,et al.  Robust Adaptive Neural Network Control for a Class of Uncertain MIMO Nonlinear Systems With Input Nonlinearities , 2010, IEEE Transactions on Neural Networks.

[24]  Shaocheng Tong,et al.  Adaptive fuzzy output feedback backstepping control of pure‐feedback nonlinear systems via dynamic surface control technique , 2013 .

[25]  Junmin Li,et al.  Decentralized Output-Feedback Neural Control for Systems With Unknown Interconnections , 2008, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[26]  Richard D. Braatz,et al.  On the "Identification and control of dynamical systems using neural networks" , 1997, IEEE Trans. Neural Networks.

[27]  Kevin M. Passino,et al.  Stable adaptive control using fuzzy systems and neural networks , 1996, IEEE Trans. Fuzzy Syst..

[28]  Ching-Hung Lee,et al.  Observer-based adaptive control for a class of nonlinear non-affine systems using recurrent-type fuzzy logic systems , 2013 .

[29]  Bing Chen,et al.  Adaptive neural tracking control of nonlinear time‐delay systems with disturbances , 2009 .

[30]  Shaocheng Tong,et al.  Fuzzy adaptive sliding-mode control for MIMO nonlinear systems , 2003, IEEE Trans. Fuzzy Syst..

[31]  Changchun Hua,et al.  Decentralized output feedback controller design for nonlinear interconnected systems with unknown control direction and time‐varying delays , 2014 .

[32]  Jianjiang Yu,et al.  Adaptive Fuzzy Stabilization for a Class of Pure-Feedback Systems with Unknown Dead-Zones , 2013 .

[33]  Shaocheng Tong,et al.  Observer-based fuzzy adaptive control for strict-feedback nonlinear systems , 2009, Fuzzy Sets Syst..

[34]  Yih-Guang Leu.  Backstepping Nonlinear Control Using Nonlinear Parametric Fuzzy Systems , 2009 .

[35]  Tieshan Li,et al.  Decentralized adaptive neural control of nonlinear interconnected large-scale systems with unknown time delays and input saturation , 2011, Neurocomputing.

[36]  X. Liu,et al.  Adaptive Neural Control of Pure-Feedback Nonlinear Time-Delay Systems via Dynamic Surface Technique , 2011, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[37]  Shaocheng Tong,et al.  Adaptive Fuzzy Output Feedback Tracking Backstepping Control of Strict-Feedback Nonlinear Systems With Unknown Dead Zones , 2012, IEEE Transactions on Fuzzy Systems.

[38]  Tong Shao-cheng,et al.  Fuzzy adaptive observer backstepping control for MIMO nonlinear systems , 2009 .

[39]  Peter Kuster,et al.  Nonlinear And Adaptive Control Design , 2016 .

[40]  Charalampos P. Bechlioulis,et al.  Prescribed Performance Adaptive Control for Multi-Input Multi-Output Affine in the Control Nonlinear Systems , 2010, IEEE Transactions on Automatic Control.