Fuzzy Adaptive Output Feedback Control for MIMO Switched Nontriangular Structure Nonlinear Systems With Unknown Control Directions
针对一类具有未知非线性动态、未知回滞、不可测状态和未知控制方向的切换MIMO非三角结构非线性系统，提出了一种基于模糊逻辑系统和Nussbaum增益函数的自适应输出反馈控制方案，并通过仿真验证了有效性。
This paper investigates an adaptive fuzzy output feedback control design problem for the switched multiple-input and multiple-output (MIMO) nontriangular structure nonlinear systems. The discussed system contains the unknown nonlinear dynamics, the unknown backlash hysteresis, the immeasurable states, and the unknown control directions under a class of switching signals. The fuzzy logic systems are utilized to learn the unknown nonlinear dynamics and construct an MIMO fuzzy switched nonlinear observer. By combining the property of the Nussbaum gain function with the Prandtl-Ishlinskii models, a novel observer-based fuzzy adaptive backstepping schematic design algorithm is presented. Furthermore, the stability of the whole controlled system is proved via Lyapunov stability theory and the average dwell time method. The simulation results are presented to verify the validity of the proposed control scheme.