Tracking-error-based universal adaptive fuzzy control for output tracking of nonlinear systems with completely unknown dynamics

In this paper, an universal adaptive fuzzy control (UAFC) scheme using output tracking error is proposed for practical tracking control of a class of nonlinear systems with unmeasured states and completely unknown perturbed dynamics including unknown dynamics and/or external disturbances. A tracking...

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Main Authors: Wang, Ning, Sun, Jing-Chao, Er, Meng Joo
Other Authors: School of Electrical and Electronic Engineering
Format: Article
Language:English
Published: 2020
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Online Access:https://hdl.handle.net/10356/140105
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-1401052020-05-26T07:53:58Z Tracking-error-based universal adaptive fuzzy control for output tracking of nonlinear systems with completely unknown dynamics Wang, Ning Sun, Jing-Chao Er, Meng Joo School of Electrical and Electronic Engineering Engineering::Electrical and electronic engineering Command Filtered Backstepping (CFBS) Completely Unknown Dynamics In this paper, an universal adaptive fuzzy control (UAFC) scheme using output tracking error is proposed for practical tracking control of a class of nonlinear systems with unmeasured states and completely unknown perturbed dynamics including unknown dynamics and/or external disturbances. A tracking error system with measurable output is first derived from the output tracking problem, and unmeasured states are observed by an universal fuzzy state observer (UFSO), whereby adaptive fuzzy approximators and an universal adaptive gain are employed to estimate unknown dynamics and dominant unknown residuals, respectively. In conjunction with the rescaled UFSO and observation errors, the UAFC using output tracking error feedback is explicitly constructed, in a recursive manner, by employing the command filtered backstepping technique, whereby intermediate virtual signals and their first derivatives associated with complex dynamics can be reconstructed by second-order filters. Furthermore, adaptive mechanisms for fuzzy approximators and the universal gain pertaining to the UFSO and UAFC are derived from the Lyapunov synthesis. Theoretical analysis proves that all signals of the closed-loop system are bounded and the output tracking error and observation error can converge to an arbitrarily small region determined by a prescribed accuracy. Simulation results demonstrate the effectiveness and superiority of the proposed UAFC scheme. 2020-05-26T07:53:58Z 2020-05-26T07:53:58Z 2017 Journal Article Wang, N., Sun, J.-C., & Er, M. J. (2018). Tracking-error-based universal adaptive fuzzy control for output tracking of nonlinear systems with completely unknown dynamics. IEEE Transactions on Fuzzy Systems, 26(2), 869-883. doi:10.1109/TFUZZ.2017.2697399 1063-6706 https://hdl.handle.net/10356/140105 10.1109/TFUZZ.2017.2697399 2-s2.0-85028969249 2 26 869 883 en IEEE Transactions on Fuzzy Systems © 2017 IEEE. All rights reserved.
institution Nanyang Technological University
building NTU Library
country Singapore
collection DR-NTU
language English
topic Engineering::Electrical and electronic engineering
Command Filtered Backstepping (CFBS)
Completely Unknown Dynamics
spellingShingle Engineering::Electrical and electronic engineering
Command Filtered Backstepping (CFBS)
Completely Unknown Dynamics
Wang, Ning
Sun, Jing-Chao
Er, Meng Joo
Tracking-error-based universal adaptive fuzzy control for output tracking of nonlinear systems with completely unknown dynamics
description In this paper, an universal adaptive fuzzy control (UAFC) scheme using output tracking error is proposed for practical tracking control of a class of nonlinear systems with unmeasured states and completely unknown perturbed dynamics including unknown dynamics and/or external disturbances. A tracking error system with measurable output is first derived from the output tracking problem, and unmeasured states are observed by an universal fuzzy state observer (UFSO), whereby adaptive fuzzy approximators and an universal adaptive gain are employed to estimate unknown dynamics and dominant unknown residuals, respectively. In conjunction with the rescaled UFSO and observation errors, the UAFC using output tracking error feedback is explicitly constructed, in a recursive manner, by employing the command filtered backstepping technique, whereby intermediate virtual signals and their first derivatives associated with complex dynamics can be reconstructed by second-order filters. Furthermore, adaptive mechanisms for fuzzy approximators and the universal gain pertaining to the UFSO and UAFC are derived from the Lyapunov synthesis. Theoretical analysis proves that all signals of the closed-loop system are bounded and the output tracking error and observation error can converge to an arbitrarily small region determined by a prescribed accuracy. Simulation results demonstrate the effectiveness and superiority of the proposed UAFC scheme.
author2 School of Electrical and Electronic Engineering
author_facet School of Electrical and Electronic Engineering
Wang, Ning
Sun, Jing-Chao
Er, Meng Joo
format Article
author Wang, Ning
Sun, Jing-Chao
Er, Meng Joo
author_sort Wang, Ning
title Tracking-error-based universal adaptive fuzzy control for output tracking of nonlinear systems with completely unknown dynamics
title_short Tracking-error-based universal adaptive fuzzy control for output tracking of nonlinear systems with completely unknown dynamics
title_full Tracking-error-based universal adaptive fuzzy control for output tracking of nonlinear systems with completely unknown dynamics
title_fullStr Tracking-error-based universal adaptive fuzzy control for output tracking of nonlinear systems with completely unknown dynamics
title_full_unstemmed Tracking-error-based universal adaptive fuzzy control for output tracking of nonlinear systems with completely unknown dynamics
title_sort tracking-error-based universal adaptive fuzzy control for output tracking of nonlinear systems with completely unknown dynamics
publishDate 2020
url https://hdl.handle.net/10356/140105
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