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http://dx.doi.org/10.5370/KIEE.2012.61.9.1319

State- and Output-feedback Adaptive Controller for Pure-feedback Nonlinear Systems using Self-structuring Fuzzy System  

Park, Jang-Hyun (목포대 공대 제어로봇공학과)
Kim, Seong-Hwan (목포대 공대 제어로봇공학과)
Jang, Young-Hak (목포대 공대 제어로봇공학과)
Ryoo, Young-Jae (목포대 공대 제어로봇공학과)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.61, no.9, 2012 , pp. 1319-1329 More about this Journal
Abstract
Globally stabilizing adaptive fuzzy state- and output-feedback controllers for the fully nonaffine pure-feedback nonlinear system are proposed in this paper. By reformulating the original pure-feedback system to a standard normal form with respect to newly defined state variables, the proposed controllers require no backstepping design procedures. Avoiding backstepping makes the controller structure and stability analysis to be considerably simplified. For the global stabilty of the clossed-loop system, the self-structuring fuzzy system whose memebership functions and fuzzy rules are automatically generated and tuned is adopted. The proposed controllers employ only one fuzzy logic system to approximate unknown nonlinear function, which highlights the simplicity of the proposed adaptive fuzzy controller. Moreover, the output-feedback controller of the considered system proposed in this paper have not been dealt with in any literature yet.
Keywords
Pure-feedback nonlinear system; Adaptive fuzzy controller; Self-structuring fuzzy system;
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Times Cited By KSCI : 1  (Citation Analysis)
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