The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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State- and Output-feedback Adaptive Controller for Pure-feedback Nonlinear Systems using Self-structuring Fuzzy System

완전 궤환 비선형 계통에 대한 자기 구조화 퍼지 시스템을 이용한 상태변수 및 출력 궤환 적응 제어기

  • 박장현 (목포대 공대 제어로봇공학과) ;
  • 김성환 (목포대 공대 제어로봇공학과) ;
  • 장영학 (목포대 공대 제어로봇공학과) ;
  • 유영재 (목포대 공대 제어로봇공학과)
  • Received : 2012.02.10
  • Accepted : 2012.08.09
  • Published : 2012.09.01
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Abstract

Globally stabilizing adaptive fuzzy state- and output-feedback controllers for the fully nonaffine pure-feedback nonlinear system are proposed in this paper. By reformulating the original pure-feedback system to a standard normal form with respect to newly defined state variables, the proposed controllers require no backstepping design procedures. Avoiding backstepping makes the controller structure and stability analysis to be considerably simplified. For the global stabilty of the clossed-loop system, the self-structuring fuzzy system whose memebership functions and fuzzy rules are automatically generated and tuned is adopted. The proposed controllers employ only one fuzzy logic system to approximate unknown nonlinear function, which highlights the simplicity of the proposed adaptive fuzzy controller. Moreover, the output-feedback controller of the considered system proposed in this paper have not been dealt with in any literature yet.

Keywords

References

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