Approximation-Based Asymptotical Tracking Control of Nonlinear Systems Quantized Actuator

Abstract

In this paper, an adaptive fuzzy asymptotical quantized tracking controller is presented for nonlinear systems with unmodeled dynamics and non-lower triangular form. The dynamic signal technique is applied to handle the difficulty from unmodeled dynamics, and fuzzy systems are used to estimate the uncertain nonlinear functions. By using backstepping technique, an adaptive fuzzy asymptotical quantized tracking control scheme is proposed. With the help of Lyapunov theory, the semi-globally uniformly ultimate boundedness of all closed-loop system signals and asymptotical tracking performance are guaranteed. Simulations illustrate the effectiveness of the proposed controller.