A design of an optimal backstepping fractional order proportional integral derivative (FOPID) controller for handling the trajectory tracking problem wheeled mobile robots (WMR) is examined in this study. Tuning parameters a challenging task, to overcome issue hybrid meta-heuristic optimization algorithm has been utilized. This evolutionary technique known as whale grey wolf optimizer (HWGO), w...

This paper considers the adaptive fuzzy robust control problem for a class of single-input and single-output (SISO) stochastic nonlinear systems in strict-feedback form. The systems under study possess unstructured uncertainties, unknown dead-zone, uncertain dynamics and unknown gain functions. In the controller design, fuzzy logic systems are adopted to approximate the unknown functions, and t...

An adaptive fuzzy control scheme is studied in this paper for the directcurrent (DC) motor systems with dead-zone input. The fuzzy logic systems are used to approximate the unknown functions in DC motor and based on the information of the parameters on the dead-zone, an adaptive fuzzy control approach is developed via backstepping design technique. Compared with the existing works for DC motor,...

An adaptive fuzzy fault-tolerant control design scheme for a class of perturbed and strict feedback nonlinear systems with actuators faults is proposed. The fuzzy logic systems are used to approximate to the nonlinear functions and the fault functions of systems. The continuous robust term is adopted to minimize the influence of modeling error or disturbance. Meanwhile, the dynamic surface cont...

This paper addresses the problem of adaptive fuzzy tracking control for aclass of nonlinearly parameterized systems with unknown control directions.In this paper, the nonlinearly parameterized functions are lumped into the unknown continuous functionswhich can be approximated by using the fuzzy logic systems (FLS) in Mamdani type. Then, the Nussbaum-type function is used to de...

The certainty equivalence and polynomial approach, widely used for designing adaptive controllers, leads to “simple” adaptive control designs that guarantee stability, asymptotic error convergence, and robustness, but not necessarily good transient performance. Backstepping and tuning functions techniques, on the other hand, are used to design adaptive controllers that guarantee stability and g...