ROBUST ADAPTIVE FUZZY CONTROL FOR NONLINEAR SYSTEM WITH DYNAMIC UNCERTAINTIES BASED ON BACKSTEPPING

In this paper, a robust adaptive fuzzy backstepping control is developed for a class of strict-feedback canonical nonlinear systems. The systems may possess unknown functions, the nonlinear dynamic uncertainties and unmodeled dynamics. The fuzzy logic systems are used to approximate the unknown nonlinear functions and nonlinear damping terms are used to counteract the nonlinear dynamic uncertainties and unmodeled dynamics. It is proved that the derived fuzzy adaptive controller can guarantee the semiglobal uniform ultimate bound property for all the signals and the output converge to a small neighbordhood of the origin. Simulation studies are included to illustrate the effectiveness of the proposed approach.