Adaptive fuzzy backstepping control for MIMO uncertain discrete-time nonlinear systems using a set of noisy measurements

2015 ◽  
Vol 23 (4) ◽  
pp. 336 ◽  
Author(s):  
Toshio Yoshimura
Keyword(s):  
Nonlinear Systems ◽  
Discrete Time ◽  
Backstepping Control ◽  
Adaptive Fuzzy ◽  
Noisy Measurements

Adaptive fuzzy dynamic surface control for uncertain discrete-time nonlinear systems in pure-feedback form using a set of noisy measurements

2017 ◽  
Vol 24 (13) ◽  
pp. 2912-2926 ◽  
Author(s):  
Toshio Yoshimura
Keyword(s):  
Nonlinear Systems ◽  
Discrete Time ◽  
Weighted Least Squares ◽  
Dynamic Surface Control ◽  
Feedback Form ◽  
Dynamic Surface ◽  
Adaptive Fuzzy ◽  
Surface Control ◽  
Single Input ◽  
Noisy Measurements

This paper is concerned with the design of an adaptive fuzzy dynamic surface control for multi-input multi-output uncertain discrete-time nonlinear systems in pure-feedback form. The states of the systems are observed with independent measurement noises. The design approach of the proposed adaptive fuzzy dynamic surface control is described as follows. By applying the theory of the adaptive fuzzy dynamic surface control, the problem of the explosion of complexity due to the repeated differentials of nonlinear functions is removed so that the controller is simplified in a structure at the first stage; second, the number of the adjustable parameters is reduced by using the simplified extended single-input rule modules; and, finally, the simplified weighted least squares estimator is designed to take the estimates for the unmeasurable states and the adjustable parameters. The simulation experiment for a simple numerical system provides the effectiveness of the proposed approach.

Design of adaptive fuzzy backstepping sliding mode control for MIMO uncertain discrete-time nonlinear systems based on noisy measurements

2016 ◽  
Vol 24 (2) ◽  
pp. 393-406 ◽  
Author(s):  
Toshio Yoshimura
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Discrete Time ◽  
Sliding Mode ◽  
Weighted Least Squares ◽  
Tracking Error ◽  
Design Parameters ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
Backstepping Sliding Mode Control

This paper presents an adaptive fuzzy backstepping sliding mode control for multi-input and multi-output uncertain nonlinear systems in semi-strict feedback form. The systems are described by a discrete-time state equation with uncertainties viewed as the modeling errors and the unknown external disturbances, and the observation of the states is taken with independent measurement noises. Combining the adaptive fuzzy backstepping control with the sliding mode control approach for the comprehensive improvement in the stability and the robustness, the adaptive fuzzy backstepping sliding mode control is approximately designed where the design parameters are selected using an appropriate Lyapunov function. The uncertainities are approximated as fuzzy logic systems using the fuzzy inference approach based on the extended single input rule modules to reduce the number of the fuzzy IF-THEN rules. The estimates for the un-measurable states and the adjustable parameters are taken by the proposed simplified weighted least squares estimator. It is proved that the trajectory of the tracking error and the sliding surface is uniformly ultimately bounded. The effectiveness of the proposed approach is indicated through the simulation experiment of a simple numerical system.

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