Command filter-based adaptive fuzzy backstepping control for a class of switched non-linear systems with input quantisation

摘要

This study investigates the problem of adaptive fuzzy output feedback control for a class of switched uncertain non-linear systems with input quantisation. The considered system contains unknown non-linearities, the switching signals, hysteretic quantised input and immeasurable states. Fuzzy logic systems are used to approximate the unknown non-linearities and a fuzzy switched state observer is designed to estimate the unmeasured states. The hysteretic quantised input is divided into two bounded non-linear functions in the control design to avoid chattering problem. By incorporating command filter into the backstepping design procedure, a fuzzy adaptive control scheme is developed, which solves the ‘explosion of complexity’ problem in conventional backstepping control schemes. Finally, the stability of the closed loop and convergence of the tracking error are proved via average dwell time and multiple Lyapunov functions methods. The effectiveness of the proposed approach is verified by a numerical simulation example.