Indirect Fuzzy Control of Nonlinear Systems With Unknown Input and State Hysteresis Using an Alternative Adaptive Inverse

Abstract

It is interesting to study the problem of adaptive fuzzy control for uncertain nonlinear systems with input and state hysteresis. However, since the hysteresis behaviour, especially the state hysteresis present at the sensors is complicated, mainly in view of its multivalues and rate-dependent features, it is a challenging task to develop the backstepping-based control design. So far, there is still no available result in addressing the problem. In this work, we will pursue this task. A novel indirect fuzzy control scheme is proposed with an alternative adaptive hysteresis inverse, which is used to cancel the unknown input hysteresis. To tackle the eects of state hysteresis, a new dynamic compensation is developed to adaptively accommodate the uncertain dynamics involved in the sensors. It is proved that in addition to system stability, the proposed scheme enables the tracking error to approach a prescribed interval asymptotically. Illustrative examples are used to verified the method developed.