Observer and Command-Filter-Based Adaptive Fuzzy Output Feedback Control of Uncertain Nonlinear Systems

TLDR

The paper proposes an observer and command-filter-based adaptive fuzzy output feedback controller for strict-feedback nonlinear systems with parametric uncertainties and unmeasured states. The method employs fuzzy logic to approximate unknown nonlinearities, constructs a fuzzy state observer, and applies command-filtered backstepping control with compensating signals to avoid complexity explosion, as demonstrated in two examples. The controller guarantees bounded closed-loop signals, resolves unknown parameter effects and backstepping complexity, and operates without full state measurement.

Abstract

In this paper, observer and command-filter-based adaptive fuzzy output feedback control is proposed for a class of strict-feedback systems with parametric uncertainties and unmeasured states. First, fuzzy logic systems are used to approximate the unknown and nonlinear functions. Next, a fuzzy state observer is developed to estimate the immeasurable states. Then, command-filtered backstepping control is designed to avoid the explosion of complexity in the backstepping design, and compensating signals are introduced to remove the effect of the errors caused by command filters. The proposed method guarantees that all signals in the closed-loop systems are bounded. The main contributions of this paper are the proposed control method can overcome two problems of linear in the unknown system parameter and explosion of complexity in backstepping-design methods and it does not require that all of the states of the system are measured directly. Finally, two examples are provided to illustrate its effectiveness.