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Fuzzy adaptive control of delayed high order nonlinear systems

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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.

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Authors and Affiliations

  1. School of Instrument Science and Engineering, Southeast University, Nanjing, 210096, PRC

    Qing Zhu & Ai-Guo Song

  2. Department of Automation, Yangzhou University, Yangzhou, 225009, PRC

    Qing Zhu, Tian-Ping Zhang & Yue-Quan Yang

Authors
  1. Qing Zhu
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  2. Ai-Guo Song
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  3. Tian-Ping Zhang
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  4. Yue-Quan Yang
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Corresponding author

Correspondence to Qing Zhu.

Additional information

This work was supported by National Nature Science Foundation (Nos. 61174046, 61175111, 60904030, 60874045, 60874030, 60835001), University Natural Science Research Project of Jiangsu Province (No. 09KJB510019), and Natural Science Foundation of the Jiangsu Higher Education Institutions of China (No. 10KJB510027).

Qing Zhu received the M. Sc. degree in computer science from Yangzhou University, PRC in 2002 and the Ph.D. degree in automatic control theory and applications from Southeast University in 2008. He has been a lecturer in the College of Information Engineering, Yangzhou University since 2008. He is now a postdoctoral research fellow at the School of Instrument Science and Engineering, Southeast University.

His research interests include control of time delay systems, neural network control, fuzzy logic control, and adaptive control.

Ai-Guo Song received his Ph.D. degree in engineering from Southeast University, PRC in 1996. From 1996 to 1998, he was a postdoctoral research fellow at the School of Information Science and Engineering in Southeast University. He was a senior researcher in Northwest University, USA from 2003 to 2004. Now he is professor at the School of Instrument Science and Engineering in Southeast University. He has published more than 100 journal papers.

His research interests include robotics, signal processing, and recovery robot.

Tian-Ping Zhang received the B. Sc. degree in mathematics from Yangzhou Teachers College, PRC in 1986, the M. Sc. degree in operations research and control theory from East China Normal University, PRC in 1992, and the Ph.D. degree in automatic control theory and applications from Southeast University, PRC in 1996. He is now a professor in the College of Information Engineering, Yangzhou University, PRC. From October 2005 to October 2006, he was a visiting scientist in the Department of Electrical and Computer Engineering, National University of Singapore, Singapore.

His research interests include fuzzy control, adaptive control, and nonlinear control.

Yue-Quan Yang received the B. Sc. degree in mathematics and the M.Sc. degree in computer application techniques from Yangzhou University, PRC in 1994 and 2002, respectively, and the Ph.D. degree in control theory and control engineering from Institute of Automation, Chinese Academy of Sciences, PRC in 2005. He is currently an associate professor at the College of Information Engineering, Yangzhou University.

His research interests include intelligent control, complex network control, and robotic techniques.

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Zhu, Q., Song, AG., Zhang, TP. et al. Fuzzy adaptive control of delayed high order nonlinear systems. Int. J. Autom. Comput. 9, 191–199 (2012). https://doi.org/10.1007/s11633-012-0633-5

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  • DOI: https://doi.org/10.1007/s11633-012-0633-5

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