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Adaptive fuzzy command filtered backstepping control for uncertain pure-feedback systems.

Lian Chen1, Qing Wang1, ChangHua Hu2

  • 1School of Automation Science and Electrical Engineering, Beihang University, Beijing, China.

ISA Transactions
|March 16, 2022
PubMed
Summary
This summary is machine-generated.

A new adaptive fuzzy controller enhances tracking control for non-affine pure-feedback systems with disturbances. This approach improves performance and avoids complexity issues in control system design.

Keywords:
Adaptive fuzzy controlCommand filtered backstepping controlPure-feedback systems

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Area of Science:

  • Control Systems Engineering
  • Fuzzy Logic Systems
  • Non-affine Systems

Background:

  • Pure-feedback systems present challenges in tracking control due to their non-affine nature and uncertain disturbances.
  • Traditional backstepping methods can suffer from an "explosion of complexity" during controller design.

Purpose of the Study:

  • To develop a novel adaptive fuzzy command filtered backstepping controller for non-affine pure-feedback systems.
  • To address system uncertainties and external disturbances effectively.
  • To overcome the complexity issues inherent in backstepping design.

Main Methods:

  • Utilizing the mean-value theorem to handle the non-affine characteristic of pure-feedback systems.
  • Employing fuzzy logic systems (FLSs) for estimating system uncertainties, including external disturbances.
  • Introducing a novel command-filtered technology to mitigate the "explosion of complexity".
  • Implementing a compensation mechanism to improve upon traditional dynamic surface control.

Main Results:

  • The proposed control scheme guarantees bounded closed-loop signals.
  • The system output successfully tracks the specified reference signal.
  • The developed approach is generalized to uncertain non-affine pure-feedback systems.
  • An integrated error compensation system enhances tracking performance compared to existing methods.

Conclusions:

  • The presented adaptive fuzzy command filtered backstepping controller is effective for non-affine pure-feedback systems with uncertainties.
  • The novel control scheme offers improved tracking performance and broader applicability.
  • Simulation results confirm the superiority of the proposed control strategy.