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	Adaptive dynamic surface control of a class of uncertain nonlinear systems in pure-feedback form using fuzzy backstepping approach
	Zeng-Guang Hou; Anmin Zou; Fang-Xiang Wu; Long Cheng; Min Tan
	2008
会议日期	AUG 23-26, 2008
会议地点	Washington DC
国家	USA
英文摘要	This paper presents an adaptive fuzzy controller for the robust backstepping control of a class of uncertain nonlinear systems in pure-feedback form. The proposed approach incorporates the Nussbaum gain function (NGF) and the dynamic surface control (DSC) into the existing adaptive fuzzy control scheme. The major features of the proposed method are that: 1) the two problems, control directions and control singularity, are well solved by use of the NGF; 2) the problem of "explosion of complexity" inherent to the existing backstepping methods is eliminated by introducing the DSC technique; 3) the proposed control scheme has the adaptive mechanism with fewer adaptive laws, which results in less computation time burden. The performance of the proposed approach is demonstrated through a simulation example.
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/23157]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
推荐引用方式 GB/T 7714	Zeng-Guang Hou,Anmin Zou,Fang-Xiang Wu,et al. Adaptive dynamic surface control of a class of uncertain nonlinear systems in pure-feedback form using fuzzy backstepping approach[C]. 见:. Washington DC. AUG 23-26, 2008.

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