Adaptive Fuzzy Output Feedback Tracking Backstepping Control of Strict-Feedback Nonlinear Systems With Unknown Dead Zones

Abstract

In this paper, an adaptive fuzzy backstepping control approach is considered for a class of nonlinear strict-feedback systems with unknown functions, unknown dead zones, and immeasurable states. Fuzzy logic systems are utilized to approximate the unknown nonlinear functions, and a fuzzy filters state observer is designed to estimate the immeasurable states. By using the adaptive backstepping recursive design technique and constructing the dead-zone inverse, a new adaptive fuzzy backstepping output-feedback control approach is developed. It is mathematically proved that all the signals of the resulting closed-loop adaptive control system are semiglobally uniformly ultimately bounded, and the tracking error converges to a small neighborhood of the origin by appropriate choice of design parameters. The proposed approach cannot only solve the problem of the dead zones but also cancel the restrictive assumption in the previous literature that the states are all available for measurement. Two simulation examples are provided to show the effectiveness of the proposed approach.