Observer-Based Adaptive Fuzzy Control For SISO Nonlinear Systems Via Backstepping
Observer-Based Adaptive Fuzzy Control For SISO Nonlinear Systems Via Backstepping
Observer-Based Adaptive Fuzzy Control For SISO Nonlinear Systems Via Backstepping
I. INTRODUCTION
Fuzzy systems adaptive control methodologies is
receiving considerable attention, emerging as
promising approaches for controlling highly uncertain
and nonlinear dynamical systems. Generally, the
adaptive fuzzy control approaches can have good
performance. However, such approaches are based on
the assumption that the state variables of the system
are available for feedback [1].
Recently, fuzzy adaptive backstepping control
schemes can provide a systematic frame work for the
design of tracking or regulation strategies, in which the
fuzzy logic systems (FLS) are used to approximate the
unknown nonlinear functions, and an adaptive fuzzy
controller is constructed recursively[2,3,4]. However,
the existing fuzzy adaptive backstepping control
methods are all based on the assumption that the states
of the systems are directly measured. As pointed out in
[5,6,7], in practice, state variables are often
unmeasured for many nonlinear systems. Therefore,
the problem of fuzzy adaptive backstepping control for
nonlinear systems with state unmeasured is very
important in both theory and real world applications.
Recently, the authors in [5,6,7,8,9] have developed
fuzzy adaptive output feedback control approaches
based on the state observers for uncertain SISO
nonlinear systems. In [4,5,6,7], FLS are utilized to
approximate the unknown functions, the error
observers are designed. In [8], a kind of fuzzy adaptive
output feedback controller is first developed for a class
of uncertain nonlinear systems with no match
condition. Using FLS to approximate the unknown
Sixth International Conference on Electrical Engineering CEE 2010
(1)
system,
fi ( X i )( i = 1,2,Kn) are
unknown
smooth
X& = AX + Ky + Bi f i ( X i ) + d i + Bu
i =1
(2)
where
-k
A= M
- k
, =K
0 K 0
M
k
, =B
0
M , B
1
1 i n
(9)
(3)
-2Q
Let yr be a reference signal and contain finite
derivatives up to the nth order. Define the output
tracking error as z1 = y - yr .
e = f ( X \ q ) - f X \ q * ,
i
i
i
i
i
i
i
d i = fi ( X i \ qi ) - fi X i \ q i
=I
0 K 1 K 0
AT P + PA
=
(4)
l = 1, 2,..., N
l
output, respectively. Fuzzy sets Fi and Gl , associated
with the fuzzy functions mF l ( X i ) and mG ( y ) ,
l
Define q T =
function j l ( x) given by
jl (X ) =
(5)
m l ( X i )
Fi
i =1
y ( x) = q T j ( X )
(6)
sup f ( x ) - q j ( x ) e
(7)
xW
i =1
y = CX
( )
(11)
e& = Ae + Bi f i ( X i ) - fi X i \ qi + d i
i =1
n
= Ae + Bi [d i + d i ] = Ae + d
(12)
Fi
(10)
i =1
P ni=1 m l ( X i )
)
)
(
(
( )
*
Define the optimal parameter vectors qi as
(14)
= x2 + q j ( x1 ) - y& r + e2 + q% j ( x1 ) + wi
where q% = q * - q
T
1
T
1
1 2
1 %T %
z1 +
q1 q1
2
2g 1
(15)
(16)
(17)
g1
1 1
&
V&2 = V&1 + z 2 z 2 + g11 q%2Tq%2
= z1 z2 + a1 ( x1 , q1 , y, yr1 ) + q j ( x1 ) + wi
&
+ e2 z1 + q%1T j ( x1 ) z1 + g11 q%1T q%1T + eT Pd - eT Qe
T
1
(18)
(19)
(20)
x1
z1
- q1T j1 ( x1 ) - e10 tanh (e10 z1 / k )
2
q&1 = g 1cj1>( x0,1 )kz1>-0,s s(q>1 -0q, 10 ) and q
are
where
a1 = -c1 z1 -
(21)
(22)
design
parameters. In view of (22), use the following nice
property with regard to function tanh (.):
z1w1 - z1e10 tanh ( e10 z1 / k ) 0.2785k = k '
Substituting (21) and (23) into (20) results in
10
V&1 - ( lmin ( Q ) - 1) e - c z + z1 z 2 +
s %T
q1 (q1 - q10 ) + k '
g1
2
1 1
1
2
Pd
= x3 + H 2 ( x1 , x2 , q1 ,q 2 , y, yr , y& r ) - &&
yr +
-
a1 ' %T
d1 + q 2 j2 X 2 + w2 - d 2'
y
( )
(27)
(28)
a1
e2
y
and
2
1
2
V&2 - ( lmin ( Q ) - 2 ) e - ck z 2 + z2 z3 + d1'2
k =1
1
1
+ d 2'2 + Pd
2
2
2
s %T
q k (q k - q k 0 )
k =1 g
k
k
(29)
+ 2k +
'
we have
z&i = x&i -a&i-1 - y(i) r
= xi+1 + Hi - yr(i) +
(30)
ai-1
a
e2 - i-1 d1' +q%iTji X i + wi - di'
y
y
( )
where
(23)
(24)
( )
where
a
a
H 2 = q j 2 X 2 - 1 x 2 + q1T j 2 ( x 2 ) + k1e1 - 1 q&1
x1
q1
a1
a
x 2 + q1T j1 ( x1 ) - 1 y& r
+ k2 e1 y
yr
Consider the following Lyapunov function:
(25)
V2 = V1 + z 2 z& 2 + g1 q%2T q%2
T
2
a
1
a 2 = - z1 - c2 z2 - z2 - 1 z2 - H2 - e 20 tanh ( e 20 z2 / k )
2
y
&
variables z1 and
( )
1
2
2
&
T
T
1 %T %
%
+ e + Pd + q1 j ( x1 ) z1 + g1 q1 q1
2
1
z
2
+ Pd + z1 z2 + 1 + a1 + q1T j ( x1 ) + w1
2
2
1 %T
2
&
- ( lmin ( Q ) - 1) e + q1 g 1j ( x1 ) z1 - q1
g1
Since
d
1
2
Pd + q%1T (q1 - q10 )
g1
2
2
a
1
(26)
yr + w2
+ z2 x3 + H 2 + z1 + z 2 - 1 z 2 - &&
2
y
1
1
1
+ q%2T g 2 z 2j 2 X 2 - q&2 + d 1'2 + d 2'2 + k '
2
2
g2
- ( lmin ( Q ) - 2 ) e - c1 z12 +
( )
i-1 a
a
H i = q iT ji X i - i-1 x k +1 + q kT j k ( x k ) + ki e1 - 1 q&
k
k =1 x
q1
i -1
i -1 a
a i -1
a1
T
(k)
i-1
e1 -
y - kj
x 2 + q1 j1 ( x1 )
j =1
x j 1 k =1 y r( k -1) r
y
Consider the following Lyapunov function
( )
Vi = Vi -1 +
1 2
1 %T %
qi qi
zi +
2
2g i
(31)
a
a
V&i zi xi+1 + H i - y (i ) + i-1 e2 - i-1 d1' + wi - d i'
y
y
r
( ) )
1
+ V&i -1 + q%iT g i ziji X i - q&i
gi
(32)
zi + d 1 + d i
2
2
y
Substituting (32) into (33) results in
1
2
V&i - ( lmin ( Q ) - i ) e + q%iT g i ziji ( X i ) - q&i
gi
2
a
1
+ zi xi+1 + H i + zi-1 + zi - i -1 zi - y r(i ) + wi
2
y
(34)
(35)
1 a
- zi - i-1 zi - Hi -ei0 tanh( ei0 zi /k )
ai =-zi-1 - cz
i i
2 y
(36)
&
q = g j X z -s (q -q )
i
i i
( )
i
i0
(38)
a
u = - z n -1 - cn z n - H n - n -1 z n
y
- e n 0 tanh ( e n 0 z n / k ) + yr( n )
q& = g j X z - s (q - q )
n
( )
n
n0
V&n - ( lmin ( Q ) - n ) e - ck z +
1
+ 1 + Pd
2
k =1
n
2
k
( n - 1)
2
'2
10
s
d + q k* - q k 0 + nk '
k =1
k =1 g
k
n
'2
k0
16
, j=1,,5.
j1 j ( x1 ) =
( x1 - 3 + n ) 2
5
n=1 exp 16
( x - 3 + j )2
( x - 3 + j )2
* exp - 2
exp - 1
4
4
j 2 j ( x1 , x2 ) =
2
( x1 - 3 + n )
( x - 3 + n )2
5
* exp - 2
n=1 exp 4
16
q1T j1 ( x1 ) = q1Tjj1 j ( x1 ) ,
j =1
q j 2 ( x1 , x2 ) =
T
2
q
j =1
T
2j
j 2 j ( x1 , x 2 )
T
[2,1]=
; g1
g 2= 0.1; s= 0.2
- k1 1 - 2 1
A= =
= = =; c1
- k 2 0 -1 0
=c2
5; e 10
e 20
0.1
(39)
P = [ 4 - 4; - 4 12]
The initial conditions are chosen as
(40)
( x - 3 + l )2
, l=1,,5.
m F l ( x1 ) = exp - 1
1
16
( x - 3 + l )2
( x - 3 + l )2
* exp - 2
m F l ( x1 , x2 ) = exp - 1
1
4
16
q1 ( 0 ) = [-0.6;0;0.5;0;0.6] , q2 ( 0 ) = [0.4;0;0.1;-0.1;0]
0.6
2
(42)
x& 2 (t ) = u + x1 (t ) sin ( x 2 )
y ( t ) = x1 ( t )
where f1 = x1e -0.5 x and f 2 = x1 sin ( x22 ) are unknown
1
0.4
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-0.4
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0.8
0.6
0.4
IV. CONCLUSION
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0
-0.2
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Seconds
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-0.4
-0.6
-0.8
V. REFERENCES
0
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0
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2
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