Adaptive Fuzzy Controller Design for Strict-Feedback Nonlinear System Using Command Filtering

摘要

An adaptive tracking control architecture is proposed and evaluated for a class of continuous-time nonlinear dynamic systems for which an explicit expression of the dynamics is either unknown or impossible. The architecture employs fuzzy logic system to approximate the plant nonlinearities. Under mild assumptions about the uncertainties, the algorithm is proven to be ultimately uniformly bounded, with tracking errors converging to a neighborhood of zero. A constructive procedure is detailed. Command filtering technique ensures no need of the repeated differential of virtual control law. The performance of the resulting controller is illustrated through simulations.