Adaptive fuzzy control of MIMO non-linear system with dead zone compensation

A new adaptive fuzzy control scheme with its adaptive laws to guarantee control objectives without so many initialization assumption constraints and minimum tracking error is proposed in the paper. With the new scheme, dead zone function is incorporated into tracking error vector for the design of the adaptive laws which provide on-line tuning for the parameters of the MIMO non-line system. The adaptive laws of minimum approximation error and the dead zone functions are also designed, which offer fast update for adjustable parameters of the approximations and quick convergence of the tracking errors. Furthermore, the new control scheme with dead zone can achieve less tracking error. What´s more important, real-time computed value of minimum approximation error can be obtained by utilizing the adaptive law designed in the paper. The stability and robustness properties of the proposed adaptive fuzzy control scheme are established by utilizing the Lyapunov stability laws. In the paper, we gave the simulation studies, which show the effectiveness, tracking performance and robustness of the proposed control scheme.