On-Line Hybrid Intelligent Tracking Control for a Class of Nonaffine Multivariable Systems

Yi Hsing Chien, Wei Yen Wang*, Yih Guang Leu

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


A novel B-spline neural backstepping controller design with mean-value approximation and first-order filters is proposed for a class of uncertain multiple-input-multiple-output nonaffine nonlinear systems. By combining the proposed systematic backstepping design technique with B-spline neural network structure, one not only has the improved tracking performance but also reduces the computation time. Moreover, using the proposed control scheme, the problems of higher-order derivative and complexity explosion can be solved. According to the stability analysis, it is proven that the tracking errors can be made small by tuning adjustable parameters appropriately. Finally, simulation results are provided to confirm the effectiveness and applicability of the proposed control scheme.

Original languageEnglish
Pages (from-to)39-52
Number of pages14
JournalInternational Journal of Fuzzy Systems
Issue number1
Publication statusPublished - 2015 Mar 1


  • B-spline functions
  • Backstepping design technique
  • First-order filter
  • Nonaffine nonlinear system

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Software
  • Computational Theory and Mathematics
  • Artificial Intelligence


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