Adaptive Fuzzy Tracking Control for a Class of MIMO Nonlinear Systems in Nonstrict-Feedback Form

• Published in: IEEE transactions on cybernetics Vol. 45; no. 12; pp. 2744 - 2755
• Main Authors: Chen, Bing, Lin, Chong, Liu, Xiaoping, Liu, Kefu
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.12.2015; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Adaptive control systems; Approximation methods; Backstepping; Control systems; Dynamical systems; Fuzzy; fuzzy adaptive control; Fuzzy logic; fuzzy logic systems; Fuzzy set theory; MIMO; MIMO (control systems); multiinput and multioutput (MIMO) nonlinear systems; Nonlinear dynamics; Nonlinear systems; fuzzy logic systems; Backstepping; multiinput and multioutput (MIMO) nonlinear systems; fuzzy adaptive control
• ISSN: 2168-2267; 2168-2275
• DOI: 10.1109/TCYB.2014.2383378

This paper focuses on the problem of fuzzy adaptive control for a class of multiinput and multioutput (MIMO) nonlinear systems in nonstrict-feedback form, which contains the strict-feedback form as a special case. By the condition of variable partition, a new fuzzy adaptive backstepping is proposed for such a class of nonlinear MIMO systems. The suggested fuzzy adaptive controller guarantees that the proposed control scheme can guarantee that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded and the tracking errors eventually converge to a small neighborhood around the origin. The main advantage of this paper is that a control approach is systematically derived for nonlinear systems with strong interconnected terms which are the functions of all states of the whole system. Simulation results further illustrate the effectiveness of the suggested approach.