標題: Fuzzy-identification-based adaptive backstepping control using a self-organizing fuzzy system
作者: Chen, Pin-Cheng
Hsu, Chun-Fei
Lee, Tsu-Tian
Wang, Chi-Hsu
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: Adaptive control;Backstepping control;Chaotic dynamic system;Self-organizing fuzzy system;Structure adaptation
公開日期: 1-May-2009
摘要: In this paper, a fuzzy-identification-based adaptive backstepping control (FABC) scheme is proposed. The FABC system is composed of a backstepping controller and a robust controller. The backstepping controller, which uses a self-organizing fuzzy system (SFS) with the structure and parameter learning phases to on-line estimate the controlled system dynamics, is the principal controller, and the robust controller is designed to dispel the effect of approximation error introduced by the SFS. The developed SFS automatically generates and prunes the fuzzy rules by the proposed structure adaptation algorithm and the parameters of the fuzzy rules and membership functions tunes on-line in the Lyapunov sense. Thus, the overall closed-loop FABC system can guarantee that the tracking error and parameter estimation error are uniformly ultimately bounded; and the tracking error converges to a desired small neighborhood around zero. Finally, the proposed FABC system is applied to a chaotic dynamic system to show its effectiveness. The simulation results verify that the proposed FABC system can achieve favorable tracking performance even with unknown controlled system dynamics.
URI: http://dx.doi.org/10.1007/s00500-008-0370-4
http://hdl.handle.net/11536/7335
ISSN: 1432-7643
DOI: 10.1007/s00500-008-0370-4
期刊: SOFT COMPUTING
Volume: 13
Issue: 7
起始頁: 635
結束頁: 647
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