Fuzzy Adaptive Tracking Control of High-order Nonlinear Dynamics with Mixed Control Directions
Maolong Lv (TU Delft - Mechanical Engineering)
Wenwu Yu (Southeast University)
Simone Baldi (TU Delft - Mechanical Engineering, Southeast University)
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Abstract
This work proposes a Nussbaum function-based adaptive control method for high-order nonlinear systems with mixed control directions (some being known, some being unknown) and dead-zone input. State-of-the-art techniques based on a piecewise Nussbaum function leave open the question if the technique handles high-order nonlinear dynamics. In this work, we address and solve such open problem in the framework of adding-one-power-integrator procedure, and using a variable-separable lemma to handle dead-zone nonlinearity. It is shown that all signals in the resulting closed-loop systems remain bounded.