Journal
APPLIED SOFT COMPUTING
Volume 30, Issue -, Pages 36-47Publisher
ELSEVIER
DOI: 10.1016/j.asoc.2015.01.057
Keywords
Fuzzy control; Adaptive control; MIMO nonlinear system; Matrix decomposition; Unknown dead zone inputs
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Funding
- National Natural Science Foundation of China [60974054]
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This paper presents an adaptive fuzzy control scheme for a class of uncertain multi-input multi-output (MIMO) nonlinear systems with the nonsymmetric control gain matrix and the unknown dead-zone inputs. In this scheme, fuzzy systems are used to approximate the unknown nonlinear functions and the estimated symmetric gain matrix is decomposed into a product of one diagonal matrix and two orthogonal matrices. Based on the decomposition results, a controller is developed, therefore, the possible controller singularity problem and the parameter initialization condition constraints problem are avoided. In addition, a dynamic robust controller is employed to compensate for the lumped errors. It is proved that all the signals in the proposed closed-loop system are bounded and that the tracking errors converge asymptotically to zero. A simulation example is used to demonstrate the effectiveness of the proposed scheme. (C) 2015 Elsevier B.V. All rights reserved.
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