Indirect adaptive fuzzy control for a class of nonaffine nonlinear systems with unknown control directions |
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Authors: | Salim Labiod Thierry Marie Guerra |
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Affiliation: | 1. LAMEL, Faculty of Science and Technology, University of Jijel, BP. 98, Ouled Aissa, 18000, Jijel Algeria 2. LAMIH, UMR CNRS 8530, Université de Valenciennes et du Hainaut-Cambrésis, Le Mont Houy, 59313, Valenciennes cedex 9, France
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Abstract: | This article presents an indirect adaptive fuzzy control scheme for a class of nonlinear uncertain nonaffine systems with unknown control directions. The nonlinear nonaffine system is first transformed into an affine form by using a Taylor series expansion, and then fuzzy systems are employed to approximate the equivalent affine system’s unknown nonlinearities. By modifying the estimated input control gain and using a novel smooth robust control term, a stable well-defined adaptive controller is proposed. Simulation results are provided to illustrate the efficiency of the proposed scheme. |
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