Stable adaptive fuzzy control of nonlinear systems preceded by unknown backlash-like hysteresis |
| |
Authors: | Chun-Yi Su Oya M. Hong H. |
| |
Affiliation: | Dept. of Mech. Eng., Concordia Univ., Montreal, Que., Canada; |
| |
Abstract: | This paper deals with adaptive control of nonlinear dynamic systems preceded by unknown backlash-like hysteresis nonlinearities, where the hysteresis is described by a dynamic equation. By utilizing this dynamic model and by combining a fuzzy universal function approximator with adaptive control techniques, a stable adaptive fuzzy control algorithm is developed without constructing a hysteresis inverse. The stability of the closed-loop system is shown using Lyapunov arguments. The effectiveness of the proposed method is demonstrated through simulations. |
| |
Keywords: | |
|
|