Observer-based adaptive fuzzy finite-time prescribed performance tracking control for strict-feedback systems with input dead-zone and saturation

• Published in: Nonlinear dynamics Vol. 103; no. 2; pp. 1645 - 1661
• Main Authors: Zhou, Xin, Gao, Chuang, Li, Zhi-gang, Ouyang, Xin-yu, Wu, Li-bing
• Format: Journal Article
• Language: English
• Published: Dordrecht Springer Netherlands 2021; Springer Nature B.V
• Subjects: Adaptive control; Automotive Engineering; Classical Mechanics; Control; Control methods; Differential calculus; Dynamical Systems; Engineering; Feedback control; Fuzzy control; Fuzzy logic; Fuzzy systems; Mechanical Engineering; Nonlinear systems; Nonlinearity; Original Paper; Output feedback; Saturation; State observers; Tracking control; Tracking errors; Vibration; Finite-time prescribed performance; Input saturation; Fuzzy observer; Dead-zone; Strict-feedback nonlinear systems
• ISSN: 0924-090X; 1573-269X
• DOI: 10.1007/s11071-020-06190-5

This paper considers the problems of finite-time prescribed performance tracking control for a class of strict-feedback nonlinear systems with input dead-zone and saturation simultaneously. The unknown nonlinear functions are approximated by fuzzy logic systems and the unmeasurable states are estimated by designing a fuzzy state observer. In addition, a non-affine smooth function is used to approximate the non-smooth input dead-zone and saturated nonlinearity, and it is varied to the affine form via the mean value theorem. An adaptive fuzzy output feedback controller is developed by backstepping control method and Nussbaum gain method. It guarantees that the tracking error falls within a pre-set boundary at finite time and all the signals of the closed-loop system are bounded. The simulation results illustrate the feasibility of the design scheme.