Adaptive fuzzy output-feedback control of uncertain SISO nonlinear systems

Abstract

The output-feedback control problem of a class of uncertain SISO nonlinear systems is investigated based on an indirect adaptive fuzzy approach. Because the system states are not required to be available for measurement, an observer is designed to estimate the system states. Compared with the existing results in the observer design, the main advantages of the proposed adaptive fuzzy output-feedback control approach are as follows: (1) It does not require to assume that the sign of the control gain coefficient is known and Nussbaum-gain technique is utilized to control the nonlinear systems with both the unknown control direction and the unmeasured states; (2) The observer in this paper is designed for the states rather than the tracking errors, then it is convenient to compute; (3) The controller singularity problem is perfectly avoided. The stability of the closed-loop system is analyzed by using Lyapunov method. A simulation example is given to verify the feasibility of the proposed approach.