Observer-based adaptive fuzzy funnel control for strict-feedback nonlinear systems with unknown control coefficients

This paper proposes an adaptive fuzzy funnel controller for a class of strict-feedback nonlinear systems with unknown control coefficients. A fuzzy state observer is designed to estimate the unmeasurable system states. An improved funnel error is given and embedded in the procedure of control design...

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Bibliographic Details
Published inNeurocomputing (Amsterdam) Vol. 358; pp. 467 - 478
Main Authors Liu, Cungen, Liu, Xiaoping, Wang, Huanqing, Zhou, Yucheng, Lu, Shouyin
Format Journal Article
LanguageEnglish
Published Elsevier B.V 17.09.2019
Subjects
Backstepping
Funnel control
Fuzzy observer
Strict-feedback nonlinear system
Backstepping
Fuzzy observer
Strict-feedback nonlinear system
Funnel control
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Summary:This paper proposes an adaptive fuzzy funnel controller for a class of strict-feedback nonlinear systems with unknown control coefficients. A fuzzy state observer is designed to estimate the unmeasurable system states. An improved funnel error is given and embedded in the procedure of control design. Furthermore, based on the backstepping method, an observer-based adaptive fuzzy funnel controller is constructed, which can guarantee that the output tracking error remains in a pre-set funnel and converges to a prescribed interval in finite time as long as the initial error is in the funnel. All the signals in the closed-loop system are also semi-globally uniformly and ultimately bounded. Simulation results demonstrate the effectiveness of the developed controller.
ISSN:0925-2312
1872-8286
DOI:10.1016/j.neucom.2019.04.039