Robust adaptive fuzzy control for nonlinear uncertain systems with unknown dead-zone and unknown upper bound of uncertainties

Abstract

In this paper, a robust adaptive fuzzy control for a class of nonlinear uncertain systems preceded by an unknown dead-zone and with unknown upper bound of uncertainties is developed. The dead-zones are quite commonly encountered in many systems (e.g., DC servosystem, robot, and machine tools), are usually poorly known, and may severely limit the performance of control. In addition, the system uncertainties (e.g., parameter variations, or external load, unmodeled dynamics) often exist. Therefore, the controllers are required to deal with the robust stability and performance of the systems with unknown dead-zone and in the presence of uncertainties, whose upper bound is generally unknown. In the beginning, an adaptive dead-zone compensation is employed to improve system performance. Then the unknown system functions and the unknown upper bound of system uncertainties are respectively approximated by fuzzy logic systems with unknown weights. The unknown bounds caused by the learning error of the slope of dead-zone and the system functions are also tackled by an extra learning law. The above weights are all on-line learned to provide for the controller design. Moreover, the projection terms in these learning laws are designed such that the boundedness of the learning weight can be assured.