Tracking Control of Uncertain High-Order Nonlinear Systems with Odd Rational Powers and the Dead-Zone Input:A Direct Fuzzy Adaptive Control Method  

作　　者：LIU Zhenguo SHI Yuyuan WU Yuqiang 

机构地区：[1]School of Automation and Software Engineering,Shanxi University,Taiyuan 030006,China [2]Institute of Automation,Qufu Normal University,Qufu 273165,China

出　　处：《Journal of Systems Science & Complexity》2022年第5期1685-1699,共15页系统科学与复杂性学报（英文版）

基　　金：supported by Scientific and Technological Innovation Programs of Higher Education Institutions in Shanxi(STIP)under Grant No.2019L0011;the Major Scientific and Technological Innovation Project in Shandong Province under Grant No.2019JZZY011111。

摘　　要：This work studies the tracking issue of uncertain nonlinear systems.The existence of odd rational powers,multiple unknown parameters and the dead-zone input add many difficulties for control design.During procedures of the control design,by introducing an appropriate Lyapunov function,utilizing recursive control method and the inequality technique,some appropriate intermediate auxiliary control laws are designed under the hypothesis that nonlinear terms in the system are known.When those nonlinear terms are unknown,by employing the powerful approximation ability of fuzzy systems,the intermediate auxiliary control laws are approximated recursively and used to construct the virtual control.Finally,a new fuzzy adaptive tracking controller is constructed to ensure a small tracking error and the boundedness of all states.In this paper,the overparameterization problem is significantly avoided since only two adaptive laws are adopted.Numerical and practical examples are used to verify the raised theory.

关 键 词：Dead-zone input direct fuzzy adaptive control uncertain systems 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]