Improved Adaptive Fuzzy Output-Feedback Dynamic Surface Control of Nonlinear Systems With Unknown Dead-Zone Output

摘要

This article presents an adaptive fuzzy output-feedback dynamic surface control (DSC) for the nonlinear systems with dead-zone output nonlinearity. First, a novel smooth approximation of the output dead zone is given to conveniently fuse with the backstepping technique. After that a nonlinear fuzzy state observer is constructed to estimate the unmeasurable states, by employing the fuzzy logic systems for identifying the unknown compounded nonlinear functions, which releases the limitation in the existing references that the state observer needs to be linear in the presence of dead-zone output nonlinearity. Then, to reduce the effect of unknown dead-zone coefficients, an adaptive compensation mechanism is introduced by using the characteristic of hyperbolic tangent function, which can replace the widely used Nussbaum-type function-based control strategy. Furthermore, a novel DSC method based on the nonlinear filters is proposed, which not only avoids the issue of explosion of complexity inherent in the backstepping procedure, but also improves the system control performance. Under the certain assumptions, the stability of the closed-loop system is proved by use of Lyapunov function stability theory. Finally, the applicability of the proposed control method is rigorously verified by a single-link robot arm simulation example.