A novel adaptive fuzzy variable structure control for a class of nonlinear uncertain systems via backstepping (Q5947545)

The authors of this paper present a new design for a control system using a fuzzy variable structural control. They consider the standard problem of model reference adaptive control (MRAC) for a class of single-input, single-output minimum-phase uncertain nonlinear systems and apply a backstepping approach. Instead of using a more traditional method that leads to a ``hard'' high-gain control law, the authors introduce smooth membership functions (based on central B-splines) into the controller to compensate for uncertainties. This makes the controller ``softer'' by smoothing and local weighting. The authors demonstrate closed-loop stability of their controller, and they show that the tracking error can be driven to an arbitrarily preset dead-zone range globally. Simulations are used to illustrate the approach and demonstrate the performance of the proposed controller.