Deadzone compensation in discrete time using adaptive fuzzy logic

A fuzzy logic (FL) compensator is designed for control of nonlinear discrete-time systems with input deadzone. 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 bounded tracking errors and 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.