Abstract
This paper is fretful about an adaptive fuzzy model-based controller (AFMBC), which is studied and implemented for class of nonlinear discrete-time system with dead zone. Due to immeasurable states and the presence of symmetric/non-symmetric dead zones, design of controller becomes more challenging. AFMBC is design for approximation of such nonlinear system to a relative degree of accuracy, which can be used for adaptation of nonlinear discrete-time systems with or without the presence of symmetric/non-symmetric dead zones. AFMBC employs as a reference model which is useful to closed-loop pure feedback form of fuzzy controller. AFMBC provides approximation of immeasurable states and minimizes effects of unknown bounded disturbances in the system. Based on Lyapunov method, it is proved that proposed scheme for discrete-time nonlinear systems is asymptotically stable. Hence, not only stability of proposed system is assured, but it is also shows that tracking error of model lies in closed neighbourhood of zero after sufficient number of iterations, i.e. tracking error \( (e(t) \to 0\;{\text{as}}\;t \to \infty ) \). The feasibility of the AFMBC is demonstrated by well-known direct current (DC) motor example and other nonlinear discrete-time problem through simulation.
Similar content being viewed by others
References
Wang, L.X., Mendel, J.M.: Fuzzy basis functions, universal approximation, and orthogonal least-squares learning. IEEE Trans. Neural Netw. 3(5), 807–814 (1996)
Funahashi, K.: On the approximate realization of continuous mappingby neural networks. Neural Netw. 2, 183–192 (1989)
Hornik, K., Stinchcombe, M., White, H.: Multilayered feedforwardnetwork are universal approximators. Neural Netw. 2, 359–366 (1989)
Poggio, T., Girosi, F.: Networks for approximation and learning. Proc. IEEE 78, 1481–1497 (1990)
Lewis, F.L., Campos, J., Selmic, R.: Neuro-fuzzy control of industrial systems with actuator nonlinearities. Soc. Ind. Appl. Math. (2002). ISBN: 0-89871-505-9
Chen, B., Liu, K., Liu, X., Shi, P., Lin, C., Zhang, H.: Approximation-based adaptive neural control design for a class ofnonlinear systems. IEEE Trans. Cybern. 44(5), 610–619 (2014)
Pan, Y.P., Er, M.J., Huang, D., Wang, Q.: Adaptive fuzzy controlwith guaranteed convergence of optimal approximation error. IEEE Trans. Fuzzy Syst. 19(5), 807–818 (2011)
Zhang, H.G., Luo, Y.H., Liu, D.R.: Neural network-basednear-optimal control for a class of discrete-time affine nonlinear systemswith control constraint. IEEE Trans. Neural Netw. 20(9), 1490–1503 (2009)
Li, H.X., Deng, H.: An approximate internal model-based neuralcontrol for unknown nonlinear discrete processes. IEEE Trans. Neural Netw. 17(3), 659–670 (2006)
Ge, S.S., Zhang, J., Lee, T.H.: Adaptive neural network control for aclass of MIMO nonlinear systems with disturbances in discrete-time. IEEE Trans. Syst. Man Cybern. Part B: Cybern. 34(4), 1630–1645 (2004)
Chen, C.L.P., Pao, Y.H.: An integration of neural network andrule-based systems for design and planning of mechanical assemblies. IEEE Trans. Syst. Man Cybern. 23(5), 1359–1371 (1993)
Wang, L.X.: Adaptive Fuzzy Systems and Control: Design and StabilityAnalysis. Prentice-Hall, Englewood Cliffs (1994)
Zhou, Q., Shi, P., Xu, S.Y., Li, H.: Observer-based adaptive neuralnetwork control for nonlinear stochastic systems with time delay. IEEE Trans. Neural Netw. Learn. Syst. 24(1), 71–80 (2013)
Chen, C.L.P., Liu, Y.J., Wen, G.X.: Fuzzy neural network-basedadaptive control for a class of uncertain nonlinear stochastic systems. IEEE Trans Cybern 44(5), 583–593 (2014)
Na, J., Ren, X.M., Zheng, D.D.: Adaptive control for nonlinear purefeedbacksystems with high-order sliding mode observer. IEEE Trans. Neural Netw. Learn. Syst. 24(3), 370–382 (2013)
Sakhre, V., Singh, U.P., Jain, S.: FCPN approach for uncertain nonlinear dynamical system with unknown disturbance. Int. J. Fuzzy Syst, vol. 18 (2016). https://doi.org/10.1007/s40815-016-0145-5
Chen, M., Ge, S.S., Ren, B.B.: Adaptive tracking control of uncertain MIMO nonlinear systems with input constraints. Automatica 47(3), 452–465 (2011)
Liu, M.: Decentralized control of robot manipulators: nonlinearand adaptive approaches. IEEE Trans. Autom. Control 44, 357–366 (1999)
Singh, U.P., Jain, S.: Optimization of neural network for nonlinear discrete time system using modified quaternion firefly algorithm: case study of indian currency exchange rate prediction. Soft Comput. 22(8), 2667–2681 (2017). https://doi.org/10.1007/s00500-017-2522-x
Rivals, I., Personnaz, L.: Nonlinear internal model control usingneural networks application to processes with delay and designissues. IEEE Trans. Neural Netw. 11, 80–90 (2000)
KenallaKopulas, I., Kokotovic, P.V., Morse, A.S.: Systematicdesign of adaptive controller for feedback linearizable system. IEEE Trans. Autom. Control 36, 1241–1253 (1991)
Wang, N., Su, S., Han, M., Chen, W.: Backpropagating constraints-based trajectory tracking control of a quadrotor with constrained actuator dynamics and complex unknowns. IEEE Trans. Syst. Man Cybern. Syst. (2018). https://doi.org/10.1109/tsmc.2018.2834515
Wang, N., Sun, J., Han, M., Zheng, Z., Er, M.J.: Adaptive approximation-based regulation control for a class of uncertain nonlinear systems without feedback linearizability. IEEE Trans. Neural Netw. Learn. Syst. 29(8), 3747–3760 (2018). https://doi.org/10.1109/TNNLS.2017.2738918
Kokotovic, P.V.: The joy feedback: nonlinear and adaptive. IEEE Control Syst. Mag. 12, 7–17 (1992)
Elmali, H., Olgac, N.: Robust output tracking control of nonlinearMIMO system via sliding mode technique. Automatica 28, 145–151 (1992)
Sadati, N., Ghadami, R.: Adaptive multi-model sliding modecontrol of robotic manipulators using soft computing. Neurocomputing 17, 2702–2710 (2008)
Singh, U.P., Jain, S., Tiwari, A.K., Singh, R.K.: Gradient evolution based counter propagation network for approximation of noncanonical system. Soft Comput. (2018) https://doi.org/10.1007/s00500-018-3160-7
Li, Z.J., Ding, L., Gao, H., Duan, G.R., Su, C.Y.: Trilateral teleoperationof adaptive fuzzy force/motion control for nonlinear teleoperatorswith communication random delays. IEEE Trans. Fuzzy Syst. 21(4), 610–624 (2013)
Chen, W.S., Wen, C.Y., Hua, S.Y., Sun, C.Y.: Distributedcooperative adaptive identification and control for a group of continuoustimesystems with a cooperative PE condition via consensus. IEEE Trans. Autom. Control 59(1), 91–106 (2014)
Li, Z.J., Su, C.Y.: Neural-adaptive control of single-master–multiple-slaves teleoperation for coordinated multiple mobile manipulatorswith time-varying communication delays and input uncertainties. IEEE Trans. Neural Netw. Learn. Syst. 24(9), 1400–1413 (2013)
Li, H.Y., Yu, J.Y., Liu, H.H., Hilton, C.: Adaptive sliding modecontrol for nonlinear active suspension vehicle systems using T–S fuzzyapproach. IEEE Trans. Indus. Electron. 60(8), 3328–3338 (2013)
Škrjanc, I., Matko, D.: Predictive functional control based on fuzzymodel for heat-exchanger pilot plant. IEEE Trans. Fuzzy Syst. 8(6), 705–712 (2000)
Zhang, H.G., Cai, L.L.: Decentralized nonlinear adaptive control ofan HVAC system. IEEE Trans. Syst. Man Cybern. Part C: Appl. Rev. 32(4), 493–498 (2002)
He, W., Zhang, S., Ge, S.S.: Adaptive control of a flexible cranesystem with the boundary output constraint. IEEE Trans. Ind. Electron. 61(8), 4126–4133 (2014)
Wang, N., Su, S., Yin, J., Zheng, Z., Er, M.J.: Global asymptotic model-free trajectory-independent tracking control of an uncertain marine vehicle: an adaptive universe-based fuzzy control approach. IEEE Trans. Fuzzy Syst. 26(3), 1613–1625 (2018). https://doi.org/10.1109/TFUZZ.2017.2737405
Wang, N., Sun, J.C., Meng, E.J., Liu, Y.C.: A novel extreme learning control framework of unmanned surface vehicles. IEEE Trans. Cybern. 46(5), 1106–1117 (2016)
Wang, N., Lv, S., Zhang, W., Liu, Z., Er, M.J.: Finite-time observer based accurate tracking control of a marine vehicle with complex unknowns. Ocean Eng. 145, 406–415 (2017). https://doi.org/10.1016/j.oceaneng.2017.09.062
Li, Z.J., Xiao, H.Z., Yang, C.G., Zhao, Y.W.: Model predictive control of nonholonomic chained systems using general projection neuralnetworks optimization. IEEE Trans. Syst. Man Cybern. Syst. 45(10), 1313–1321 (2015)
Ibrir, S., Xie, W.F., Su, C.Y.: Adaptive tracking of nonlinearsystems with non-symmetric dead-zone input. Automatica 43(3), 522–530 (2007)
Wang, N., Qian, C., Sun, J.C., Liu, Y.C.: Adaptive robust finite-time trajectory tracking control of fully actuated marine surface vehicles. IEEE Trans. Control Syst. Technol. 24(4), 1454–1462 (2016)
Wang, N., Meng, E.J., Sun, J.C., Liu, Y.C.: Adaptive robust online constructive fuzzy control of a complex surface vehicle system. IEEE Trans. Cybern. 46(7), 1511–1523 (2016)
Wang, X.S., Su, C.Y., Hong, H.: Robust adaptive control of a classof nonlinear systems with unknown dead-zone. Automatica 40(3), 407–413 (2004)
Na, J., Ren, X.M., Herrmann, G., Qiao, Z.: Adaptive neural dynamicsurface control for servo systems with unknown dead-zone. Control Eng. Pract. 19(11), 1328–1343 (2011)
Selmic, R.R., Lewis, F.L.: Dead-zone compensation in motioncontrol systems using neural networks. IEEE Trans. Autom. Control 45(4), 602–613 (2000)
Xu, B., Yang, C., Shi, Z.: Reinforcement learning output feedback NN controlusing deterministic learning technique. IEEE Trans. Neural Netw. Learn. Syst. 25(3), 635–641 (2014)
Li, D.J.: Neural network control for a class of continuous stirredtank reactor process with dead-zone input. Neurocomputing 131, 453–459 (2014)
Wang, N., Meng, E.J.: Direct adaptive fuzzy tracking control of marine vehicles with fully unknown parametric dynamics and uncertainties. IEEE Trans. Control Syst. Technol. 24(5), 1845–1852 (2016)
Tong, S.C., Li, Y.M.: Adaptive fuzzy output feedback trackingbackstepping control of strict-feedback nonlinear systems with unknowndead zones. IEEE Trans. Fuzzy Syst. 20(1), 168–180 (2012)
Tong, S.C., Li, Y.M.: Adaptive fuzzy output feedback control ofMIMO nonlinear systems with unknown dead-zone inputs. IEEE Trans. Fuzzy Syst. 21(3), 134–146 (2013)
Liu, Y.J., Tong, S.: Adaptive fuzzy control for a class of unknown nonlinear dynamical systems. Fuzzy Sets Syst. 263, 49–70 (2015). https://doi.org/10.1016/j.fss.2014.08.008
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Singh, U.P., Jain, S., Gupta, R.K. et al. AFMBC for a Class of Nonlinear Discrete-Time Systems with Dead Zone. Int. J. Fuzzy Syst. 21, 1073–1084 (2019). https://doi.org/10.1007/s40815-019-00621-1
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s40815-019-00621-1