Abstract
An adaptive tracking control architecture is proposed and evaluated for a class of continuous-time nonlinear dynamic systems for which an explicit expression of the dynamics is either unknown or impossible. The architecture employs fuzzy logic system to approximate the plant nonlinearities. Under mild assumptions about the uncertainties, the algorithm is proven to be ultimately uniformly bounded, with tracking errors converging to a neighborhood of zero. A constructive procedure is detailed. Command filtering technique ensures no need of the repeated differential of virtual control law. The performance of the resulting controller is illustrated through simulations.
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Acknowledgments
This work is supported by National Natural Science Foundation of China under Grant No. 51109020, National 973 Projects of China under Grant No. 2009CB320800 and the Fundamental Research Funds for the Central Universities No. 2011JC022.
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Ren, J. (2013). Adaptive Fuzzy Controller Design for Strict-Feedback Nonlinear System Using Command Filtering. In: Sun, Z., Deng, Z. (eds) Proceedings of 2013 Chinese Intelligent Automation Conference. Lecture Notes in Electrical Engineering, vol 254. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-38524-7_24
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DOI: https://doi.org/10.1007/978-3-642-38524-7_24
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