scholarly journals Adaptive Fuzzy Control for Path Tracking of Underactuated Ships Based on Dynamic Equilibrium State Theory

2011 ◽  
Vol 4 (6) ◽  
pp. 1148 ◽  
Author(s):  
Dehui Qiu ◽  
Qinglin Wang ◽  
Jie Yang ◽  
Jinhua She
Keyword(s):  
Fuzzy Control ◽  
Equilibrium State ◽  
Dynamic Equilibrium ◽  
Adaptive Fuzzy Control ◽  
State Theory ◽  
Path Tracking ◽  
Adaptive Fuzzy ◽  
Dynamic Equilibrium State

Backstepping Control Based on the Dynamic Equilibrium State Theory for Strict-Feedback Nonlinear Systems

2011 ◽  
Vol 143-144 ◽  
pp. 360-365
Author(s):  
De Hui Qiu ◽  
Qing Lin Wang ◽  
Jie Yang
Keyword(s):  
Nonlinear Systems ◽  
Equilibrium State ◽  
Feedback Linearization ◽  
Dynamic Equilibrium ◽  
State Theory ◽  
State Control ◽  
Control Approach ◽  
Dynamic Equilibrium State ◽  
Steady State Control ◽  
Strict Feedback

A novel control approach is introduced for strict-feedback nonlinear systems based on the dynamic equilibrium state theory. First, the basic idea of the dynamic equilibrium state theory is presented. The dynamic equilibrium state is not the origin or the constant, but means change under the effect of input for non-free systems. Then, the method of steady state control is combined with backstepping technology, realizing the feedback linearization and stability step by step and guaranteeing uniform ultimate boundedness of all signals in the closed-loop system. The proposed approach has much simpler expression and is easy to understand. Finally, two simulation examples are used to demonstrate the effectiveness of the proposed scheme.

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