title: Fuzzy Adaptive Control Design and Discretization for a Class of Nonlinear Uncertain Systems.
abstract: In this paper, tracking control problems are investigated for a class of uncertain nonlinear systems in lower triangular form. First, a state-feedback controller is designed by using adaptive backstepping technique and the universal approximation ability of fuzzy logic systems. During the design procedure, a developed method with less computation is proposed by constructing one maximum adaptive parameter. Furthermore, adaptive controllers with nonsymmetric dead-zone are also designed for the systems. Then, a sampled-data control scheme is presented to discretize the obtained continuous-time controller by using the forward Euler method. It is shown that both proposed continuous and discrete controllers can ensure that the system output tracks the target signal with a small bounded error and the other closed-loop signals remain bounded. Two simulation examples are presented to verify the effectiveness and applicability of the proposed new design techniques.
authors.forename: Xudong
authors.initials: X
authors.lastname: Zhao
authors.forename: Peng
authors.initials: P
authors.lastname: Shi
authors.forename: Xiaolong
authors.initials: X
authors.lastname: Zheng