Fuzzy Logic Deadzone Compensation with Feedback Linearization of Nonlinear Systems

• 作者: Jun Oh Jang
• 来源期刊: 应用数学(英文)
• 学科: 工学
• 关键词: DEADZONE COMPENSATION FEEDBACK LINEARIZATION Fuzzy Logic Stability
• 年，卷（期）: yysxyw_2019,（3）
• 页码范围: 87-99
• 页数: 13页
• 分类号: TP1

摘要

A fuzzy logic compensator is designed for feedback linearizable nonlinear systems with deadzone nonlinearity. The classification property of fuzzy logic systems makes them a natural candidate for the rejection of errors induced by the deadzone, which has regions in which it behaves differently. A tuning algorithm is given for the fuzzy logic parameters, so that the deadzone compensation scheme becomes adaptive, guaranteeing small tracking errors and bounded parameter estimates. Formal nonlinear stability proofs are given to show that the tracking error is small. The fuzzy logic deadzone compensator is simulated on a one-link robot system to show its efficacy.