Journal
IEEE TRANSACTIONS ON FUZZY SYSTEMS
Volume 23, Issue 2, Pages 302-312Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TFUZZ.2014.2312026
Keywords
Backstepping; delay; fuzzy control; nonlinear systems; sampled-data
Funding
- National Natural Science Foundation of China [61333012, 61374031]
- Self-Planned Task of State Key Laboratory of Robotics and Systems (HIT)
- State Key Laboratory of Synthetical Automation for Process Industries (Northeastern University, Shenyang, China)
- Alexander von Humboldt Foundation of Germany
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This paper investigates the adaptive fuzzy backstepping control and H-infinity performance analysis for a class of nonlinear systems with sampled and delayed measurements. In the control scheme, a fuzzy-estimator (FE) model is used to estimate the states of the controlled plant, while the fuzzy logic systems are used to approximate the unknown nonlinear functions in the nonlinear system. The controller is obtained based on the FE model by combining the backstepping technique with the classic adaptive fuzzy control method. In the stability analysis, all the signals in the closed-loop system are guaranteed to be semiglobally uniformly ultimately bounded (SUUB) and the outputs of the system are proven to converge to a small neighborhood of origin. Furthermore, the H-infinity performance is investigated and the outputs of the closed-loop system are bounded in the H-infinity sense. Two examples are given to illustrate the effectiveness of the proposed control scheme.
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