Deadzone compensation in discrete time using adaptive fuzzy logic

A deadzone compensator inverse approach is designed for control of nonlinear discrete-time systems using a fuzzy logic (FL) controller. The classification property of FL systems makes them a natural candidate for the rejection of errors induced by the deadzone, which has regions in which it behaves differently. A discrete-time tuning algorithm is given for the FL parameters so that the deadzone compensation scheme becomes adaptive, guaranteeing small tracking errors and bounded parameter estimates. A rigorous proof of stability and performance is given and a simulation example verifies performance. Unlike standard discrete-time adaptive control techniques, no certainty equivalence assumption is needed.