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检索条件"主题词=Fuzzy Logic Systems"

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Adaptive Dynamic Surface Control for Simultaneous Stabilization and Tracking of Wheeled Mobile Robot

Adaptive Dynamic Surface Control for Simultaneous Stabilizat...

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第三十九届中国控制会议

作者： Wenrui Shi Lijia Xu Sanyan Chen College of Mechanical and Electrical Engineering Sichuan Agricultural University

In this paper, an adaptive dynamic surface control algorithm is developed to simultaneously solve the problem of stabilization and tracking control for wheeled mobile robot with uncertain parameters and external disturbances. For the kinematic model, virtual controllers are deigned to achieve asymptotic stabilization and tracking. For the dynamic model, fuzzy logic systems are used to approximate the unknown nonlinear functions. Furthermore, the adaptation laws are utilized to estimate the unknown parameters including the upper bounds of external disturbances, as well as the upper bounds of approximation errors and the norms of the optimal weight vectors of the fuzzy logic systems. Incorporating the dynamic surface control technique into the backstepping design method, the dynamic controller is proposed to overcome the problem of ‘explosion of terms’ so that the amount of calculation is reduced and it can be easy to realize in engineering. Using the Lyapunov stability theory, it is proved that the proposed dynamic controller can make the tracking errors converge to a small neighborhood of the origin point. Finally,simulation results are given to show the validity of the proposed control scheme.

关键词： Adaptive Control Dynamic Surface Control fuzzy logic systems Wheeled Mobile Robot Stabilization and Tracking

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A Novel SOSM Control Method by Using Adaptive fuzzy Technique

A Novel SOSM Control Method by Using Adaptive Fuzzy Techniqu...

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第40届中国控制会议

作者： Binbin Zhang Shihong Ding Keqi Mei School of Electrical and Information Engineering Jiangsu University

In practical application systems,the output constraints are *** of output constraints may cause system damage as well as performance *** this paper,adaptive fuzzy second-order sliding mode（SOSM） controllers are designed which is studied for a class of non-linear systems with output *** unknown bounds of uncertainties are approached dynamically by fuzzy logic *** constructing a new barrier Lyapunov function,the output constraint problem has been well ***,by combining adding a power integrator（API） technology and adaptive fuzzy control,a novel adaptive fuzzy SOSM controller is *** is demonstrated that the proposed algorithm keeps the output variables within the specified constraint ***,the finite-time stability of the resulting closed-loop system under output constraints can be shown to be guaranteed by the Lyapunov ***,an example is presented to demonstrate the validity of the proposed SOSM control strategy.

关键词： Sliding mode adaptive control finite-time convergence fuzzy logic systems adding a power integrator output constraints

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Adaptive Command Filtered Predefined-Time fuzzy Control of Nonlinear systems

Adaptive Command Filtered Predefined-Time Fuzzy Control of N...

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第43届中国控制会议

作者： Yaling Jiang Yakun Su Mathematical Sciences Bohai University

This paper investigates command filter-based predefined-time adaptive fuzzy control problem for strict-feedback nonlinear systems. A predefined-time adaptive control mechanism is developed by combining command filter to handle the problem of complexity explosion. An improved command filtering compensation mechanism is presented to compensate the errors generated by the filter. fuzzy logic systems(FLSs) are exploited to estimate uncertain functions in control ***,by designing appropriate parameters,the presented control method guarantees that all signals in the closed-loop system are predefined-time bound and the tracking errors converge to a compact set close to origin. Finally,a simulation example proves the validity of presented control mechanism.

关键词： Adaptive control Predefined-time Command filter Backstepping control technique fuzzy logic systems

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Adaptive fuzzy Finite-Time Backstepping Control of Nonlinear systems with Input Constraint and Hysteresis Nonlinearity

Adaptive Fuzzy Finite-Time Backstepping Control of Nonlinear...

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第40届中国控制会议

作者： Mengmeng Li Yuan Li Qinglin Wang School of Automation Beijing Institute of Technology

This paper investigates the adaptive finite-time tracking control issue for a class of nonlinear systems with input constraint,hysteresis nonlinearity,unmeasured states,and external *** on the fuzzy logic systems（FLSs）,a fuzzy state observer（FSO） is first designed to estimate the unmeasured ***,by using the finite-time stability theory,a novel backstepping control scheme is proposed without constructing the hysteresis *** problem of "explosion of complexity" caused by the derivative of virtual controllers is eliminated by utilizing the low-pass ***,a saturation dynamic filter is employed to address the input *** is proved that the proposed controller guarantees that all the closed signals are semi-global practical finite-time stability（SGPFS）,and the tracking error converges to a neighbourhood of the ***,simulation results are presented to validate the effectiveness of the proposed control scheme.

关键词： Hysteresis Input Constraint Backstepping fuzzy logic systems Finite Time Tracking

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Adaptive fuzzy PI tracking control for a class of switched nonlinear systems

Adaptive fuzzy PI tracking control for a class of switched n...

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第三十九届中国控制会议

作者： Hongyao Li Haibin Sun Linlin Hou Qixun Lan School of Engineering Qufu Normal University School of Information Science and Engineering Qufu Normal University School of Mathematics and science Henan University of Urban Construction

In this paper, the adaptive fuzzy proportional-integral（PI） tracking control problem for a class of switched nonlinear systems with unknown nonlinear functions and external disturbances is studied. By using backstepping method with fuzzy logic systems, an adaptive fuzzy PI tracking controller is proposed, which has a simple structure and a clear physical meaning. The stability analysis of the closed-loop switched systems is established via common Lyapunov function, and all the closed-loop signals and tracking error are bounded. Finally, two example are employed to verify the effectiveness of the proposed scheme.

关键词： Adaptive control backstepping fuzzy logic systems PI control switched nonlinear system tracking control

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