Robust adaptive control of nonlinear discrete-time systems by backstepping without overparameterization

ADAPTIVE FUZZY TRACKING CONTROL FOR A CLASS OF NONLINEAR SYSTEMS WITH UNKNOWN DISTRIBUTED TIME-VARYING DELAYS AND UNKNOWN CONTROL DIRECTIONS

In this paper, an adaptive fuzzy control scheme is proposed for a class of perturbed strict-feedback nonlinear systems with unknown discrete and distributed time-varying delays, and the proposed design method does not require a priori knowledge of the signs of the control gains.Based on the backstepping technique, the adaptive fuzzy controller is constructed. The main contributions of the paper...

ADAPTIVE FUZZY OUTPUT FEEDBACK TRACKING CONTROL FOR A CLASS OF NONLINEAR TIME-VARYING DELAY SYSTEMS WITH UNKNOWN BACKLASH-LIKE HYSTERESIS

This paper considers the problem of adaptive output feedback tracking control for a class of nonstrict-feedback nonlinear systems with unknown time-varying delays and unknown backlash-like hysteresis. Fuzzy logic systems are used to estimate the unknown nonlinear functions. Based on the Lyapunov–Krasovskii method, the control scheme is constructed by using the backstepping and adaptive techniqu...

ADAPTIVE BACKSTEPPING CONTROL OF UNCERTAIN FRACTIONAL ORDER SYSTEMS BY FUZZY APPROXIMATION APPROACH

In this paper, a novel problem of observer-based adaptive fuzzy fractional control for fractional order dynamic systems with commensurate orders is investigated; the control scheme is constructed by using the backstepping and adaptive technique. Dynamic surface control method is used to avoid the problem of “explosion of complexity” which is caused by backstepping design process. Fuzzy logic sy...

Discrete time robust control of robot manipulators in the task space using adaptive fuzzy estimator

This paper presents a discrete-time robust control for electrically driven robot manipulators in the task space. A novel discrete-time model-free control law is proposed by employing an adaptive fuzzy estimator for the compensation of the uncertainty including model uncertainty, external disturbances and discretization error. Parameters of the fuzzy estimator are adapted to minimize the estimat...

Discrete-time robust backstepping adaptive control for nonlinear time-varying systems