Adaptive tracking control for switched nonlinear systems with fuzzy actuator backlash

Abstract This paper concentrates on the adaptive tracking control problem for a class of switched nonlinear systems in nonstrict-feedback form with uncertain actuator backlash. The switching signal considered in our model is arbitrary. The adaptive tracking controller design procedure is divided into three parts. Firstly, a novel fuzzy backlash model is presented to describe the uncertain backlash. Then, the fuzzy backlash is defuzzified and approximated by the linear combination of a linear term and a disturbance-like term without constructing a backlash inverse. Finally, an adaptive backstepping-based tracking controller via common Lyapunov function (CLF) method is presented to guarantee the tracking error asymptotically converges to an adjustable region of zero. The stability analysis and simulation examples are presented at the end of this paper to further verify effectiveness of our control scheme.

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