The adaptive back-stepping control issue for the switched non-affine nonlinear system with uncertain parameter is addressed in this paper. Inspired by “extended state” conception, integral item first employed original to generate an augmented system. Then, structures dynamics are adopted devise virtual controls directly, and dynamic surface integrated eliminate “explosion of complexity” caused ...

We focus on the analysis and design of two different sliding mode observers for dynamic Takagi-Sugeno (TS) fuzzy systems. A nonlinear system of this class is composed of multiple affine local linear models that are smoothly interpolated by weighting functions resulting from a fuzzy partitioning of the state space of a given nonlinear system subject to observation. The Takagi-Sugeno fuzzy system...

A two-step controller synthesis method is proposed in this paper for a class of uncertain nonlinear systems described by piecewise affine differential inclusions. In the first step, a robust linear controller is designed for the linear differential inclusion that describes the dynamics of the nonlinear system close to the equilibrium point. In the second step, a stabilizing piecewise affine con...

In this paper, we consider a special class of underactuated mechanical systems with two degrees of freedom and symmetry. By symmetry, we mean the inertia matrix of the system is independent of the unactuated degree of freedom. We show that there exists a natural global change of coordinates obtained from the Lagrangian of the system that transforms the system into a partially linear cascade non...

This paper is concerned with kinematically asymmetrically affine control systems with nonholonomic affine constraints (KAACS). We first show the nonintegrability condition for affine constraints using their geometric representation. Next, the KAACS is uniquely derived from affine constraints and control inputs. We then analyze the KAACS based on nonlinear control theory and provide some conditi...

Control system design for complex nonlinear systems has been widely studied in the last decade. Many remarkable results in this area have been reported, including feedback linearization techniques (Isidori 1989, Esfandiari and Khalil 1992), backstepping design (Krstic et al. 1995) for systems with unmatched uncertainties (Koshkouei et al. 2004). For uncertain systems, sliding mode control appro...

This paper studies the large fluctuations of solutions of scalar and finite–dimensional affine stochastic functional differential equations with finite memory, as well as related nonlinear equations. We find conditions under which the exact almost sure growth rate of the partial maximum of each component of the system can be determined, both for affine and nonlinear equations. The proofs exploi...

In this paper, a wavelet based adaptive sliding mode control is designed for a class of discrete time uncertain nonlinear nonaffine systems. An equivalent affine like structure is first developed form the original nonaffine system and subsequently a wavelet based adaptive sliding mode tracking control scheme is developed for the affine like system. Wavelet neural network (WNN) is used to mimic ...