Fuzzy adaptive control of delayed high order nonlinear systems

Authors:
Qing Zhu;Ai-Guo Song;Tian-Ping Zhang;Yue-Quan Yang
Affiliations:
School of Instrument Science and Engineering, Southeast University, Nanjing, PRC 210096 and Department of Automation, Yangzhou University, Yangzhou, PRC 225009;School of Instrument Science and Engineering, Southeast University, Nanjing, PRC 210096;Department of Automation, Yangzhou University, Yangzhou, PRC 225009;Department of Automation, Yangzhou University, Yangzhou, PRC 225009
Venue:
International Journal of Automation and Computing
Year:
2012

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Abstract

This paper deals with the problem of tracking control for a class of high order nonlinear systems with input delay. The unknown continuous functions of the system are estimated by fuzzy logic systems (FLS). A state conversion method is introduced to eliminate the delayed input item. By means of the backstepping algorithm, the property of semi-globally uniformly ultimately bounded (SGUUB) of the closed-loop system is achieved. The stability of the closed-loop system is proved according to Lyapunov second theorem on stability. The tracking error is proved to be bounded which ultimately converges to an adequately small compact set. Finally, a computer simulation example of high order nonlinear systems is presented, which illustrates the effectiveness of the control scheme.