IDEAS home Printed from https://ideas.repec.org/a/taf/tsysxx/v47y2016i14p3436-3446.html
   My bibliography  Save this article

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

Author

Listed:
  • 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
    as

    Download full text from publisher

    File URL: http://hdl.handle.net/10.1080/00207721.2015.1084394
    Download Restriction: Access to full text is restricted to subscribers.
    File URL: https://libkey.io/10.1080/00207721.2015.1084394?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    As the access to this document is restricted, you may want to search for a different version of it.

    References listed on IDEAS

    as
    1. Ching-Hung Lee & Bo-Ren Chung, 2012. "Adaptive backstepping controller design for nonlinear uncertain systems using fuzzy neural systems," International Journal of Systems Science, Taylor & Francis Journals, vol. 43(10), pages 1855-1869.
    2. Zidong Wang & Yugang Niu & Bo Shen, 2014. "Analysis and control with randomly occurring incomplete information," International Journal of Systems Science, Taylor & Francis Journals, vol. 45(7), pages 1333-1336, July.
    3. Zhengguang Wu & Peng Shi & Hongye Su & Jian Chu, 2012. "State estimation for discrete-time neural networks with time-varying delay," International Journal of Systems Science, Taylor & Francis Journals, vol. 43(4), pages 647-655.
    4. Ruicheng Ma & Jun Zhao & Georgi Dimirovski, 2013. "Backstepping design for global robust stabilisation of switched nonlinear systems in lower triangular form," International Journal of Systems Science, Taylor & Francis Journals, vol. 44(4), pages 615-624.
    5. Mou Chen & Bin Jiang, 2013. "Adaptive control and constrained control allocation for overactuated ocean surface vessels," International Journal of Systems Science, Taylor & Francis Journals, vol. 44(12), pages 2295-2309.
    6. Dong Wang & Wei Wang & Peng Shi, 2011. "Design on -filtering for discrete-time switched delay systems," International Journal of Systems Science, Taylor & Francis Journals, vol. 42(12), pages 1965-1973.
    7. Editors, 2014. "International Journal of Systems Science," International Journal of Systems Science, Taylor & Francis Journals, vol. 45(12), pages 1-1, December.
    8. Ben Niu & Jun Zhao, 2013. "Tracking control for output-constrained nonlinear switched systems with a barrier Lyapunov function," International Journal of Systems Science, Taylor & Francis Journals, vol. 44(5), pages 978-985.
    9. Ping Li & Guang-Hong Yang, 2011. "A novel adaptive control approach for nonlinear strict-feedback systems using nonlinearly parameterised fuzzy approximators," International Journal of Systems Science, Taylor & Francis Journals, vol. 42(3), pages 517-527.
    10. Zheng-Guang Wu & Peng Shi & Hongye Su & Jian Chu, 2012. "Delay-dependent stability analysis for discrete-time singular Markovian jump systems with time-varying delay," International Journal of Systems Science, Taylor & Francis Journals, vol. 43(11), pages 2095-2106.
    Full references (including those not matched with items on IDEAS)

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Yunong Zhang & Yinyan Zhang & Dechao Chen & Zhengli Xiao & Xiaogang Yan, 2017. "Division by zero, pseudo-division by zero, Zhang dynamics method and Zhang-gradient method about control singularity conquering," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(1), pages 1-12, January.
    2. Yan-Si Lin & Chih-Chiang Cheng, 2016. "Design of block backstepping controllers for a class of perturbed multiple inputs and state-delayed systems in semi-strict-feedback form," International Journal of Systems Science, Taylor & Francis Journals, vol. 47(6), pages 1296-1311, April.
    3. Moina Ajmeri & Ahmad Ali, 2017. "Analytical design of modified Smith predictor for unstable second-order processes with time delay," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(8), pages 1671-1681, June.
    4. Qiu, Ruozhen & Sun, Minghe & Lim, Yun Fong, 2017. "Optimizing (s, S) policies for multi-period inventory models with demand distribution uncertainty: Robust dynamic programing approaches," European Journal of Operational Research, Elsevier, vol. 261(3), pages 880-892.
    5. Mourad Kchaou & Ahmed El-Hajjaji, 2017. "Resilient sliding mode control for discrete-time descriptor fuzzy systems with multiple time delays," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(2), pages 288-301, January.
    6. Changyin Sun & Qing Wang & Yao Yu, 2017. "Robust output containment control of multi-agent systems with unknown heterogeneous nonlinear uncertainties in directed networks," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(6), pages 1173-1181, April.
    7. Hassan Ghiti Sarand & Bahram Karimi, 2016. "Synchronisation of high-order MIMO nonlinear systems using distributed neuro-adaptive control," International Journal of Systems Science, Taylor & Francis Journals, vol. 47(9), pages 2214-2224, July.
    8. Nadja Bömmel & Guido Heineck, 2023. "Revisiting the causal effect of education on political participation and interest," Education Economics, Taylor & Francis Journals, vol. 31(6), pages 664-682, November.
    9. R. Sakthivel & V. Nithya & Yong-Ki Ma & Chao Wang, 2018. "Finite-Time Nonfragile Dissipative Filter Design for Wireless Networked Systems with Sensor Failures," Complexity, Hindawi, vol. 2018, pages 1-13, October.
    10. Zhang-peng Tian & Hong-yu Zhang & Jing Wang & Jian-qiang Wang & Xiao-hong Chen, 2016. "Multi-criteria decision-making method based on a cross-entropy with interval neutrosophic sets," International Journal of Systems Science, Taylor & Francis Journals, vol. 47(15), pages 3598-3608, November.
    11. Carlos Bianchi & Pablo Galaso & Sergio Palomeque, 2020. "Invention and Collaboration Networks in Latin America: Evidence from Patent Data," Documentos de Trabajo (working papers) 20-04, Instituto de Economía - IECON.
    12. Burcu Yılmaz Kaya & Aylin Adem & Metin Dağdeviren, 2020. "A DSS-Based Novel Approach Proposition Employing Decision Techniques for System Design," International Journal of Information Technology & Decision Making (IJITDM), World Scientific Publishing Co. Pte. Ltd., vol. 19(02), pages 413-445, March.
    13. M.V. Basin & M. Hernandez-Gonzalez, 2016. "Discrete-time filtering for nonlinear polynomial systems," International Journal of Systems Science, Taylor & Francis Journals, vol. 47(9), pages 2058-2066, July.
    14. Houssem Jerbi & Mourad Kchaou & Attia Boudjemline & Mohamed Amin Regaieg & Sondes Ben Aoun & Ahmed Lakhdar Kouzou, 2021. "H ∞ and Passive Fuzzy Control for Non-Linear Descriptor Systems with Time-Varying Delay and Sensor Faults," Mathematics, MDPI, vol. 9(18), pages 1-25, September.
    15. Boone, David, 2016. "New Zealand public service leaders and organisational change inception: A framework for deciding what to change," MBA Research Papers 6137, Victoria University of Wellington, School of Management.
    16. Valentin Bertsch & Wolf Fichtner, 2016. "A participatory multi-criteria approach for power generation and transmission planning," Annals of Operations Research, Springer, vol. 245(1), pages 177-207, October.
    17. Shafi F. Al Dousari, 2019. "Transformation of Texaco and Barriers to Its Implementation," International Business Research, Canadian Center of Science and Education, vol. 12(11), pages 38-47, November.
    18. A’kif AL-FUGARA & Abdel Rahman AL-SHABEEB & Yahya AL-SHAWABKEH & Hani AL-AMOUSH & Rida AL-ADAMAT, 2018. "Simulation And Prediction Of Urban Spatial Expansion In Highly Vibrant Cities Using The Sleuth Model: A Case Study Of Amman Metropolitan, Jordan," Theoretical and Empirical Researches in Urban Management, Research Centre in Public Administration and Public Services, Bucharest, Romania, vol. 13(1), pages 37-56, February.
    19. Pan, Jason Chao-Hsien & Shih, Po-Hsun & Wu, Ming-Hung, 2015. "Order batching in a pick-and-pass warehousing system with group genetic algorithm," Omega, Elsevier, vol. 57(PB), pages 238-248.
    20. Gaddafi Abdul-Salaam & Abdul Hanan Abdullah & Mohammad Hossein Anisi & Abdullah Gani & Abdulhameed Alelaiwi, 2016. "A comparative analysis of energy conservation approaches in hybrid wireless sensor networks data collection protocols," Telecommunication Systems: Modelling, Analysis, Design and Management, Springer, vol. 61(1), pages 159-179, January.

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:taf:tsysxx:v:47:y:2016:i:14:p:3436-3446. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Chris Longhurst (email available below). General contact details of provider: http://www.tandfonline.com/TSYS20 .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.