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Adaptive Fuzzy Finite-Time Control for Uncertain Nonlinear Systems with Asymmetric Actuator Backlash

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Abstract

This paper proposes a novel adaptive controller for uncertain nonlinear systems with asymmetric actuator backlash, and an adaptive fuzzy finite-time tracking control is built by using backstepping technique. This paper provides a new finite-time stability criterion, making the adaptive tracking control scheme more suitable in the practice than traditional methods. Under the presented controller, the desired system performance is realized in finite time. At last, the validity of proposed controller is concluded through a simulation example.

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Acknowledgements

This work was supported in part by the National Natural Science Foundation of China under Grants 61503223, the Project of Shandong Province Higher Educational Science and Technology Program under Grants J15LI09, China Postdoctoral Science Foundation-funded project under Grants 2016M592140, Shandong innovation postdoctoral program under Grants 201603066, and the SDUST Research Fund under Grants 2014TDJH102.

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Authors and Affiliations

  1. College of Mathematics and Systems Science, Shandong University of Science and Technology, Qingdao, Shandong, People’s Republic of China

    Wenshun Lv & Fang Wang

  2. School of Automation, Nanjing University of Science and Technology, Nanjing, Jiangsu, People’s Republic of China

    Wenshun Lv

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  1. Wenshun Lv
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  2. Fang Wang
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Correspondence to Fang Wang.

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Lv, W., Wang, F. Adaptive Fuzzy Finite-Time Control for Uncertain Nonlinear Systems with Asymmetric Actuator Backlash. Int. J. Fuzzy Syst. 21, 50–59 (2019). https://doi.org/10.1007/s40815-018-0532-1

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