Journal of Theoretical
and Applied Mechanics

54, 3, pp. 987-1000, Warsaw 2016
DOI: 10.15632/jtam-pl.54.3.987

Adaptive fuzzy control for a class of constrained nonlinear systems with application to a surface vessel

Mehrnush Sadat Jamalzade, Hamid Reza Koofigar, Mohammad Ataei
In this paper, adaptive control for a class of uncertain nonlinear systems with input constraints is addressed. The main goal is to achieve a self-regulator PID controller whose coefficients are adjusted by using some adaptive fuzzy rules. The constraints on the control signal are taken into account as a saturation operator. The stability of the closed-loop system is analytically proved by using the Lyapunov stability theorem. The proposed method is then applied to a surface vessel with uncertain dynamic equations. The simulation results show the effectiveness of the proposed control strategy.
Keywords: self-regulator, fuzzy PID controller, constraint nonlinear systems, uncertainty, fuzzy estimation