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Adaptive fuzzy switched control design for uncertain nonholonomic systems with input nonsmooth constraint

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  • Yongming Li
  • Shaocheng Tong

Abstract

In this paper, a fuzzy adaptive switched control approach is proposed for a class of uncertain nonholonomic chained systems with input nonsmooth constraint. In the control design, an auxiliary dynamic system is designed to address the input nonsmooth constraint, and an adaptive switched control strategy is constructed to overcome the uncontrollability problem associated with x0(t0) = 0. By using fuzzy logic systems to tackle unknown nonlinear functions, a fuzzy adaptive control approach is explored based on the adaptive backstepping technique. By constructing the combination approximation technique and using Young's inequality scaling technique, the number of the online learning parameters is reduced to n and the ‘explosion of complexity’ problem is avoid. It is proved that the proposed method can guarantee that all variables of the closed-loop system converge to a small neighbourhood of zero. Two simulation examples are provided to illustrate the effectiveness of the proposed control approach.

Suggested Citation

  • Yongming Li & Shaocheng Tong, 2016. "Adaptive fuzzy switched control design for uncertain nonholonomic systems with input nonsmooth constraint," International Journal of Systems Science, Taylor & Francis Journals, vol. 47(14), pages 3436-3446, October.
    • Handle: RePEc:taf:tsysxx:v:47:y:2016:i:14:p:3436-3446
    DOI: 10.1080/00207721.2015.1084394
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    References listed on IDEAS

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