Journal ArticleDOI
Finite-Time Adaptive Fuzzy Control for Nonlinear Systems With Full State Constraints
TLDR
An adaptive fuzzy controller is constructed to address the finite-time tracking control problem for a class of strict-feedback nonlinear systems, where the full state constraints are strictly required in the systems.Abstract:
In this paper, an adaptive fuzzy controller is constructed to address the finite-time tracking control problem for a class of strict-feedback nonlinear systems, where the full state constraints are strictly required in the systems. Backstepping design with a tan-type barrier Lyapunov function is proposed. Meanwhile, fuzzy logic systems are used to approximate the unknown nonlinear functions. The addressed control scheme guarantees that the output is followed the reference signals within a bounded error, and all the signals in the closed-loop system are bounded. The simulation results demonstrate the validity of the proposed method.read more
Citations
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Journal ArticleDOI
Integral Barrier Lyapunov function-based adaptive control for switched nonlinear systems
TL;DR: The Lyapunov stability theory is introduced to demonstrate that the adaptive controller achieves the desired control goals and a numerical simulation is performed which verifies the significance and feasibility of the presented control scheme.
Journal ArticleDOI
Adaptive Fuzzy Control With High-Order Barrier Lyapunov Functions for High-Order Uncertain Nonlinear Systems With Full-State Constraints
TL;DR: A high-order tan-type barrier Lyapunov function (BLF) is constructed to handle the full-state constraints of the control systems and by the BLF and combining a backstepping design technique, an adding a power integrator, and a fuzzy control, the proposed approach can control high- order uncertain nonlinear system with full- state constraints.
Journal ArticleDOI
Adaptive Fuzzy Tracking Control of Flexible-Joint Robots With Full-State Constraints
TL;DR: By combining the method of backstepping design with adaptive fuzzy control approaches, a novel simpler controller is successfully constructed to ensure that the output tracking errors converge to a sufficiently small neighborhood of the origin, while the constraints on the system states will not be violated during operation.
Journal ArticleDOI
Neural-Based Decentralized Adaptive Finite-Time Control for Nonlinear Large-Scale Systems With Time-Varying Output Constraints
TL;DR: This paper addresses the adaptive finite-time decentralized control problem for time-varying output-constrained nonlinear large-scale systems preceded by input saturation by combining the backstepping approach with Lyapunov function theory.
Journal ArticleDOI
Reduced Adaptive Fuzzy Tracking Control for High-Order Stochastic Nonstrict Feedback Nonlinear System With Full-State Constraints
TL;DR: A novel control scheme is constructed to ensure that tracking error is within a very small range of the origin almost surely, meanwhile, the constraints on the system states are not breached almost surely during the operation.
References
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Survey Constrained model predictive control: Stability and optimality
TL;DR: This review focuses on model predictive control of constrained systems, both linear and nonlinear, and distill from an extensive literature essential principles that ensure stability to present a concise characterization of most of the model predictive controllers that have been proposed in the literature.
Journal ArticleDOI
Fuzzy basis functions, universal approximation, and orthogonal least-squares learning
Li-Xin Wang,Jerry M. Mendel +1 more
TL;DR: Using the Stone-Weierstrass theorem, it is proved that linear combinations of the fuzzy basis functions are capable of uniformly approximating any real continuous function on a compact set to arbitrary accuracy.
Journal ArticleDOI
Continuous finite-time control for robotic manipulators with terminal sliding modes
TL;DR: A continuous finite-time control scheme for rigid robotic manipulators is proposed using a new form of terminal sliding modes using the Lyapunov stability theory, and theoretical analysis and simulation results show that faster and high-precision tracking performance is obtained.
Journal ArticleDOI
Barrier Lyapunov Functions for the control of output-constrained nonlinear systems
TL;DR: This paper presents control designs for single-input single-output (SISO) nonlinear systems in strict feedback form with an output constraint, and explores the use of an Asymmetric Barrier Lyapunov Function as a generalized approach that relaxes the requirements on the initial conditions.
Journal ArticleDOI
Attitude stabilization of rigid spacecraft with finite‐time convergence
TL;DR: In this article, two sliding mode controllers are proposed to force the state variables of the closed-loop system to converge to the origin in finite time, and the second control design consists of the estimation of the uncertainty and disturbance by adaptive method and thus it achieves the decrease of undesired chattering effectively.