COMMANDE ADAPTATIVE FLOUE DES SYSTEMES NON LINEARES Par la methode de backstepping utilisant le mode glissant

Abstract

The fuzzy control FC takes his name from the applications of control, but it extends now this frame by its multiple applications. Adaptive control serves for transforming the dynamics of the non-linear system into an equivalent linear system, so that the conventional linear techniques can be applied. Fundamentally the adaptive control problem is rather little different from that of the robust control (not adaptive). A globally stable fuzzy adaptive controller is at first synthesized from a collection of fuzzy rules « if-then », the fuzzy system used to approximate an optimal controller, is adjusted by an adaptive law based on the approach of Lyapunov's synthesis. The backstepping approach is a design process of controllers for uncertain nonlinear systems. Its motivation bases on the volume reducing of the computations of the backstepping design by the exploitation of the sliding mode control simplicity. The stability tools of the controlled system via the proposed approach are semi global.