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《Electric Machines and Control》 2003-02
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Backstepping design of robust indirect fuzzy controller for nonlinear systems

LI Ya-hui, ZHUANG Xian-yi, WANG Shu-yi, QIANG Sheng (Dept. of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, China)  
The adaptive control of strict-feed back nonlinear systems using fuzzy indirect method is focused on in this paper. Firstly, an adaptive controller, which includes a continued robust term for disturbance rejection, is presented for a kind of first-order multi-input/multi-output (MIMO) systems, with fuzzy networks as approximators of nonlinear functions. Then, a scheme of robust backstepping design is given for corresponding MIMO ones. The stability is proved using Lyapunov theories, during which the robust terms are substituted by approximate functions. Finally, the physical senses and influences on the system performance are analyzed simply. The result suggests that the asymptotic stability of the system can be gu aranteed, and the tracking errors can be arbitrary small when the designing parameters are given suitably. System design is flexible because of the robust terms introducing.
【CateGory Index】: TP273.2
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