Stable adaptive fuzzy controller with time-varying dead-zone (Q5947600)

The study is concerned with the development of an adaptive fuzzy control for a class of dynamic systems of the form \[ x^{(n)}(t)= f({\mathbf x}(t))+ g({\mathbf x}(t)) u(t), \] where the feedback linear control takes on the form \[ u(t)=(-f({\mathbf x})+ v(t))/g({\mathbf x}) \] \((v(t)= x^{(n)}_d(t)- a_n x^{\sim(n-1)}(t)-\cdots- a_1x^{\sim}(t))\) with \(x^\sim(t)\) being the difference between \(x(t)\) and the desired trajectory \(x_d(t))\). It is shown how fuzzy rule-based systems are used to approximate the unknown functions \(f({\mathbf x})\) and \(g({\mathbf x})\) standing in the system's description. The adaptation laws involve the use of a dead-zone whose size is adaptively adjusted. It is demonstrated that the control law and adaptation scheme guarantee that all signals and parameter estimates remain bounded and the convergence of the tracking error is achieved.