Adaptive fuzzy output feedback control for a class of nonaffine nonlinear systems with unknown dead-zone input

摘要

In this paper, an adaptive fuzzy backstepping output feedback control approach is developed for a class of SISO nonaffine nonlinear systems with unknown dead-zone input and immeasurable states. Within this scheme, the original nonaffine system is firstly transformed into an affine-like form by using Taylor series expansion, the unknown dead-zone input is treated as a combination of a linear and a bounded disturbance-like term, and a state observer is introduced to estimate the system states. The fuzzy logic systems are utilized to directly approximate the desire virtual control law, and a novel adaptive fuzzy output feedback controller is designed via backstepping. A main advantage of the proposed controller is that only one adaptive parameter needs to be updated online in backstepping design process. Theoretically, it is proved that the presented adaptive fuzzy controller can guarantee that the tracking error converges to a small neighborhood of the origin and all signals in closed-loop are bounded. Finally, the simulation results validate the effectiveness of the proposed scheme.