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IEEETRANSACTIONSONCYBERNETICS,VOL.46,NO.7,JULY20161511
AdaptiveRobustOnlineConstructiveFuzzyControl
ofaComplexSurfaceVehicleSystem
NingWang,SeniorMember,IEEE,MengJooEr,SeniorMember,IEEE,Jing-ChaoSun,andYan-ChengLiu
Abstract—Inthispaper,anoveladaptiverobustonlinecon-backstepping[8]–[11],andothers[12]–[15],justtonamea
structivefuzzycontrol(AR-OCFC)scheme,employinganonlinefew,havebeenproposedintheframeworkofmodel-based
constructivefuzzyapproximator(OCFA),todealwithtrackingcontrol.However,model-basedapproachesrequiresystem
surfacevehicleswithuncertaintiesandunknowndisturbancesis
proposed.Significantcontributionsofthispaperareasfollows:dynamicstobeatleastpartiallyknown.
1)unlikepreviousself-organizingfuzzyneuralnetworks,theAlternatively,approximation-basedcontrolapproaches[16]
OCFAemploysdecoupleddistancemeasuretodynamicallyallo-viafuzzylogicsystems(FLS)[17]–[25],neural
catediscriminableandsparsefuzzysetsineachdimensionandisnetworks(NNs)[26]–[31],andfuzzyNNs(FNN)[32]–[34],
abletoparsimoniouslyself-constructhighinterpretableT-Sfuzzyetc.,donotrequireparametricorfunctionalcertaintyand
rules;2)anOCFA-baseddominantadaptivecontroller(DAC)is
designedbyemployingtheimprovedprojection-basedadaptivehavebeenwidelyappliedtostochasticsystems[35],[36],
lawsderivedfromtheLyapunovsynthesiswhichcanguaran-activesuspensionsystems[37],robotmanipulators[38],
teereasonablefuzzypartitions;3)
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