Fuzzy Control of Switched Systems With Unknown Backlash and Nonconstant Control Gain: A Parameterized Smooth Inverse

摘要

This article addresses fuzzy tracking control question when switched systems are subjected to unknown input backlash, nonconstant control gain, and asymmetric full-state constraints. A new mode-dependent integral barrier Lyapunov MIBLF) can handle conservative feasibility conditions that only assure asymmetric full-state constraints and all subsystems share a common controller. To handle unknown input backlash nonlinearities in the presence of unknown nonconstant control gain function, fuzzy logic systems are utilized and a new parameterized smooth backlash inverse (PSBI) is presented. It is hard to construct the barrier Lyapunov function-based controller in the presence of unknown backlash, switching framework, and full-state constraints. By employing the fuzzy logic systems and the PSBI, a novel MIBLF-based adaptive fuzzy controller is presented to overcome this challenge. Furthermore, the presented controller not only prevents violation of all constrained states, but also ensures the boundedness of the closed-loop system. Eventually, feasibility of achieved theoretical results can be proven by two examples.

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