Adaptive fuzzy control of MIMO nonlinear systems with fuzzy dead zones |
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Affiliation: | 1. School of Automation, Guangdong University of Technology, Guangzhou 510006, China;2. Guangdong-HongKong-Macao Joint Laboratory for Smart Discrete Manufacturing, Guangzhou 510006, China;3. Faculty of Computer Science and Engineering, South China University of Technology, Guangzhou, Guangdong 510006, China |
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Abstract: | In this paper, the problem of adaptive fuzzy tracking control is investigated for a class of multi-input multi-output nonlinear systems with fuzzy dead zones. The virtual control gain functions and uncertain functions considered in the studied system are all unknown. Fuzzy logic systems are employed to approximate the unknown functions. With the combination of adaptive backstepping design technique and dynamic surface control method, the problem caused by differentiating nonlinear functions repeatedly is avoided. Furthermore, only one adaptive parameter needs to be updated online for each subsystem, which reduces the computation burden considerably. The presented controller not only guarantees the desired control performance, but also guarantees the boundedness of all closed-loop signals. Simulation results are shown to demonstrate the effectiveness of the proposed algorithm. |
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Keywords: | Multi-input multi-output nonlinear systems Fuzzy dead zones Fuzzy logic systems Backstepping Dynamic surface control |
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