Abstract

This paper considers the problems of designing a robust observer and developing a backstepping-based adaptive fuzzy control scheme for a class of strict-feedback systems, in which the virtual control coefficients are unknown. By using convex combination method, a robust fuzzy observer has been constructed to estimate the unmeasurable system state variables. Further, an observer-based adaptive fuzzy control scheme has been proposed. During the controller design procedure, fuzzy logic systems are used to model the unknown nonlinear functions, adaptive technique and backstepping are combined to construct the ideal virtual and the real laws. The proposed adaptive fuzzy output feedback controller guarantees that the tracking error converges to a small neighborhood of the origin and all the signals in the adaptive closed-loop system are bounded. Simulation results are provided to demonstrate the effectiveness of the presented approach.

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