Adaptive Type 2 Fuzzy Robust Backstepping Control For Uncertain Siso Nonlinear Systems

Abstract

In this paper, a interval type 2 fuzzy adaptive backstepping design procedure is proposed for a class of nonlinear systems with three types of uncertainties: (i) nonlinear uncertainties; (ii) unmodeled dynamics and (iii) dynamic disturbances. The type 2 fuzzy logic systems are used to approximate the nonlinear uncertainties and nonlinear damping terms are used to counte-ract the dynamic disturbances and fuzzy approximation errors. The derived type 2 fuzzy adaptive control approach guarantees the global boundedness property for all the signals and states, and at the same time, steers the output to a small neighborhood of the origin. Simulation studies are included to illustrate the effectiveness of the proposed approach.