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Stable adaptive fuzzy control of nonlinear systems preceded by unknown backlash-like hysteresis

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3 Author(s)
Chun-Yi Su ; Dept. of Mech. Eng., Concordia Univ., Montreal, Que., Canada ; Oya, M. ; Hong, H.

This paper deals with adaptive control of nonlinear dynamic systems preceded by unknown backlash-like hysteresis nonlinearities, where the hysteresis is described by a dynamic equation. By utilizing this dynamic model and by combining a fuzzy universal function approximator with adaptive control techniques, a stable adaptive fuzzy control algorithm is developed without constructing a hysteresis inverse. The stability of the closed-loop system is shown using Lyapunov arguments. The effectiveness of the proposed method is demonstrated through simulations.

Published in:

Fuzzy Systems, IEEE Transactions on  (Volume:11 ,  Issue: 1 )