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论文类型： 期刊论文

发表时间： 2018-12-01

发表刊物： IEEE TRANSACTIONS ON FUZZY SYSTEMS

收录刊物： SCIE

卷号： 26

期号： 6

页面范围： 3847-3859

ISSN号： 1063-6706

关键字： Adaptive fuzzy control; backstepping design; nonsmooth nonlinear systems

摘要： This paper proposes a solution to adaptive output-feedback control for a class of nonsmooth nonlinear systems. First, the concept of semiglobally uniformly ultimately bounded (SGUUB) stability that has been widely used for smooth nonlinear systems with lower triangular systems is extended to the nonsmooth systems. Then by resorting to set-valued maps and set-valued derivatives, a new Lyapunov criterion ensuring the SGUUB stability is developed for nonsmooth nonlinear systems, which establishes the theory foundation for the subsequent backstepping control design. With the help of Cellina approximate selection theorem and smooth approximation theorem for Lipschitz functions, the system under investigation is first transformed into an equivalent model. In the sequel, exploring some efficient techniques, an adaptive fuzzy output-feedback controller is constructed for the systems under consideration by utilizing an appropriate observer and the approximation ability of fuzzy systems. Finally, a numerical example is given to show the effectiveness of the proposed control method.