Design of Adaptive Fuzzy Controllers for a Class of Fractional Order Nonlinear MIMO Systems with Input Saturation

Changhui Wang, Hai Yin, Mei Liang, Yongsheng Chai
2020 IEEE Access  
This paper develops a fractional order adaptive fuzzy backstepping control scheme for an incommensurate fractional order uncertain nonlinear multiple-input multiple-output (MIMO) systems with external disturbance and input saturation. Combined with the adaptive and backstepping technique, the fuzzy logic system is used to approximate the unknown nonlinear uncertainties in each step of the backstepping, and the incommensurate fractional order parameters update laws for fuzzy logic system,
more » ... parameters as well as the external disturbances are proposed in the controller to compensate the unknown nonlinearities, unknown parameters and disturbances. With the aids of the frequency distributed model of fractional integrator for the fractional order systems in the procedure of controller design, the stability of the closed loop system is established. At last, two simulation examples are demonstrated to verify the robustness and effectiveness of the proposed controller. INDEX TERMS Fractional order systems, nonlinear MIMO system, fuzzy logic system, adaptive backstepping control, input saturation. This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/ VOLUME 8, 2020
doi:10.1109/access.2020.2998681 fatcat:vuaadrb3f5ft5bkudiykzxbgoq