Design of a fuzzy adaptive controller for MIMO nonlinear time-delay systems with unknown actuator nonlinearities and unknown control direction

This paper aims at investigating the fuzzy adaptive control design for uncertain multivariable systems with unknown actuator nonlinearities and unknown control direction that possibly exhibit time-delay. The actuator nonlinearities involve dead-zone or backlash-like hysteresis, while the control dir...

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Bibliographic Details
Published in:Information sciences 2010-12, Vol.180 (24), p.5041-5059
Main Authors: Boulkroune, A., M’Saad, M., Chekireb, H.
Format: Article
Language:English
Subjects:
Actuators
Adaptive control
Adaptive control systems
Backlash
Compensation
Control systems
Dead-zone
Design engineering
Fuzzy
Fuzzy control
Fuzzy logic
Fuzzy set theory
MIMO nonlinear systems
Nonlinearity
Nussbaum function
Time-delay
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Summary:This paper aims at investigating the fuzzy adaptive control design for uncertain multivariable systems with unknown actuator nonlinearities and unknown control direction that possibly exhibit time-delay. The actuator nonlinearities involve dead-zone or backlash-like hysteresis, while the control direction is closely related to the sign of the control gain matrix. Two fuzzy adaptive controllers are proposed to deal with such an issue. The design of the first controller is mainly carried out in the free time-delay case, while the second control design is performed assuming that the system exhibits time-varying delays. Of practical interest, the adaptive compensation of the effects of the actuator nonlinearities requires neither the knowledge of their parameters nor the construction of their inverse. Furthermore, the lack of knowledge of the control direction is handled by incorporating in the control law a Nussbaum-type function. The effectiveness of the proposed fuzzy adaptive controllers is illustrated through simulation results.
ISSN:0020-0255
1872-6291
DOI:10.1016/j.ins.2010.08.034