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...

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii CHAPTER 1. INTRODUCTIOIN . . . . . . . . . . . . . . . . . . . . . . 1 1.1 Sensitivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 1.2 Robust Feedback Linearization . . . . . . . . . . . . . . . . . . . . . . . 3 1.3 Application to Hydraulic System . . . . . . . . . . . . . . . . . . . . . . 5...

This paper presents a robust adaptive feedback linearizing control law to solve the integrated kinematic and dynamic trajectory tracking problem of nonholonomic mechanical systems in presence of parametric and nonparametric uncertainties. An adaptive nonlinear control law is proposed based on input-output feedback linearization technique to get asymptotically exact cancellation of the parametri...

In this paper, the input-output linearization problem for a class of single-input single-output nonlinear systems with multiple delays in the input and the state is studied. The problem is solved by means of various static or dynamic compensators, including state and output feedback. The mathematical setting is based on so-called Roesser models for this class of systems and on some noncommutati...

The objective of this study is to design a robust direct model reference adaptive controller (DMRAC) for a nonlinear cardiovascular model over a range of plant parameters representing a variety of physical conditions. The direct adaptive controllers used in thisd study require the plant to be almost strictly positive real (ASPR) that is, for a plant to be controlled there must exist a feedback ...

This paper concerns a study on the optimal control for nonlinear systems. An appropriate alternative in order to alleviate the nonlinearity of a system is the exact linearization approach. In this fashion, the nonlinear system has been linearized using input-output feedback linearization (IOFL). Then, by utilizing the well developed optimal control theory of linear systems, the compensated ...

Backstepping Control Design and Its Applications to Vehicle Lateral Control in Automated Highway Systems by Chieh Chen Doctor of Philosophy in Engineering-Mechanical Engineering University of California at Berkeley Professor Masayoshi Tomizuka, Chair In this dissertation the e ort is to explore new aspects of recursive backstepping design methodology from both theoretical and application point ...

In this paper, an adaptive fuzzy backstepping control approach is developed for a class of nonlinear systems with unknown time delays and unmeasured states. By using fuzzy logic systems to approximate the unknown nonlinear functions, a fuzzy adaptive state observer is designed for estimating the unmeasured states. By combining the adaptive backstepping technique with adaptive fuzzy control desi...

This paper presents an adaptive neural control design for a class of unknown nonlinear systems. Novel state variables and the corresponding transform are introduced, such that the statefeedback control of a pure-feedback system can be viewed as the output-feedback control of a canonical system. An adaptive predictor incorporated with a neural network observer is proposed to obtain the future sy...

This paper deals with the problem of robust adaptive controller design for a class of Multi-Input and Multi-Output (MIMO) time delay uncertain systems based on backstepping method and fuzzy logical system (FLS). This problem aims at designing robust adaptive controller for all parameter uncertainties and time delay of MIMO system with backstepping method. This studied system consists of some su...