Adaptive fuzzy backstepping output feedback control for a class of MIMO time-delay nonlinear systems based on high-gain observer

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1、NonlinearDyn(2012)67:11751191DOI10.1007/s11071-011-0061-zORIGINALPAPERAdaptivefuzzybacksteppingoutputfeedbackcontrolforaclassofMIMOtime-delaynonlinearsystemsbasedonhigh-gainobserverYongmingLi·Chang’eRen·ShaochengTongReceived:29March2011/Accepted:25April2011/Publishedonl

2、ine:18June2011©SpringerScience+BusinessMediaB.V.2011AbstractInthispaper,anadaptivefuzzybackstep-(NNs)hasreceivedmuchattention,andmanyadap-pingoutputfeedbackcontrolapproachisdevelopedtivefuzzycontrolapproacheshavebeendevelopedforforaclassofmultiinputandmultioutput(MIMO)u

3、nknownnonlinearstrict-feedbacksystems[115].nonlinearsystemswithtimedelaysandimmeasurableAmongthem,[17]areforsingle-inputandsingle-states.Fuzzylogicsystemsareemployedtoapproxi-output(SISO)nonlinearsystems,[811]areforSISOmatetheunknownnonlinearfunctions,andanadap-nonlinea

4、rsystemswithtimedelays,while[1215]aretivefuzzyhigh-gainobserverisdevelopedtoestimateforSISOnonlinearsystemswithimmeasurablestates,theunmeasuredstates.Usingthedesignedhigh-gainrespectively.Ingeneral,adaptivefuzzyorNNback-observer,andcombiningthefuzzyadaptivecontrolsteppi

5、ngcontrollerscanprovideasystematicmethod-theorywiththebacksteppingapproach,anadaptiveologyofsolvingtrackingorregulationcontrolprob-fuzzyoutputfeedbackcontrolisconstructedrecur-lems,wherefuzzysystemsorNNsareusedtoapproxi-sively.Itisprovedthatallthesignalsoftheclosed-mate

6、unknownnonlinearfunctionsandtypicallyadap-loopadaptivecontrolsystemaresemigloballyuni-tivefuzzyorNNcontrollersareconstructedrecur-formlyultimatelybounded(SUUB)andthetrackingsivelyintheframeworkofthetraditionalbacksteppingerrorconvergestoasmallneighborhoodoftheorigin.des

7、igntechnique.Themainfeaturesoftheseadaptiveapproachesinclude(i)theycandealwiththosenon-KeywordsMIMOtime-delaynonlinearsystems·linearsystemswithoutsatisfyingthematchingcondi-Fuzzylogicsystems·Adaptiveoutputfeedbacktions,and(ii)theydonotrequiretheunknownnonlin-control·Bac

8、ksteppingdesign·High-gainstateearfunctionsbeinglinearlyparameterized.observer·StabilityanalysisBasedontheabove