Adaptive Fuzzy Control for a Class of MIMO Nonlinear Systems with Unknown Dead-zones  

作　　者：ZHANG Tian-Ping YI Yang 

机构地区：[1]Department of Computer, College of Information Engineering, Yangzhou University, Yangzhou 225009, P.R. China [2]Research Institute of Automation, Southeast University, Naajing 210096, P. R. China

出　　处：《自动化学报》2007年第1期96-100,共5页Acta Automatica Sinica

基　　金：Supported by National Natural Science Foundation of P.R.China(60074013), the Foundation of the Education Bureau of JiangsuProvince (KK0310067&05KJB520152), and the Foundation of Infor-mation Science Subject Group of Yangzhou University (ISG 030606).

摘　　要：A design scheme of adaptive fuzzy controller for a class of uncertain MIMO nonlinear systems with unknown dead-zones and a triangular control structure is proposed in this pa-per. The design is based on the principle of sliding mode control and the property of Nussbaum function. The approach does not require a priori knowledge of the signs of the control gains and the upper bounds and lower bounds of dead-zone parameters to be known a priori. By introducing the integral-type Lyapunov function and adopting the adaptive compensation term of the upper bound of the optimal approximation error and the dead-zone disturbance, the closed-loop control system is proved to be semi-globally stable in the sense that all signals involved are bounded, with tracking errors converging to zero.A design scheme of adaptive fuzzy controller for a class of uncertain MIMO nonlinear systems with unknown deadzones and a triangular control structure is proposed in this paper. The design is based on the principle of sliding mode control and the property of Nussbaum function. The approach does not require a priori knowledge of the signs of the control gains and the upper bounds and lower bounds of dead-zone parameters to be known a priori. By introducing the integral-type Lyapunov function and adopting the adaptive compensation term of the upper bound of the optimal approximation error and the deadzone disturbance, the closed-loop control system is proved to be semi-globally stable in the sense that all signals involved are bounded, with tracking errors converging to zero.

关 键 词：自适应控制 模糊控制 滑模控制 NUSSBAUM函数 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]