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1、InformationSciences180(2010)5041–5059ContentslistsavailableatScienceDirectInformationSciencesjournalhomepage:www.elsevier.com/locate/insDesignofafuzzyadaptivecontrollerforMIMOnonlineartime-delaysystemswithunknownactuatornonlinearitiesandunknowncontroldirectiona,⇑bcA.Boulkroune,M.M’Saad,H.Chekir
2、ebaDepartmentofAutomatic,UniversityofJijel,Jijel18000,AlgeriabGREYC,UMR6072CNRS,UniversitédeCaen,ENSICAEN,6BdMaréchalJuin,14050CaenCedex,FrancecLCP,DepartmentoftheElectricEngineering,ENP,Algiers,AlgeriaarticleinfoabstractArticlehistory:Thispaperaimsatinvestigatingthefuzzyadaptivecontroldesignfo
3、runcertainmultivar-Received1April2009iablesystemswithunknownactuatornonlinearitiesandunknowncontroldirectionthatReceivedinrevisedform17August2010possiblyexhibittime-delay.Theactuatornonlinearitiesinvolvedead-zoneorbacklash-likeAccepted21August2010hysteresis,whilethecontroldirectioniscloselyrela
4、tedtothesignofthecontrolgainmatrix.Twofuzzyadaptivecontrollersareproposedtodealwithsuchanissue.Thedesignofthefirstcontrollerismainlycarriedoutinthefreetime-delaycase,whilethesecondKeywords:controldesignisperformedassumingthatthesystemexhibitstime-varyingdelays.OfMIMOnonlinearsystemspracticalinte
5、rest,theadaptivecompensationoftheeffectsoftheactuatornonlinearitiesTime-delayFuzzycontrolrequiresneithertheknowledgeoftheirparametersnortheconstructionoftheirinverse.AdaptivecontrolFurthermore,thelackofknowledgeofthecontroldirectionishandledbyincorporatingDead-zoneinthecontrollawaNussbaum-typef
6、unction.TheeffectivenessoftheproposedfuzzyBacklashadaptivecontrollersisillustratedthroughsimulationresults.NussbaumfunctionCrownCopyrightÓ2010PublishedbyElsevierInc.Allrightsreserved.1.IntroductionThankstotheuniversalapproximationtheorem[56],agreatdealofinteresthasbeenparticularlydedicatedtodev
7、elopfuzzyadaptivecontroltechniquestodealwiththecomplexcontrolproblemsinvolvedinrealworldlifesystems,namelythoseconcerningthemultivariablenature,thetime-delayandtheactuatornonlinearities.Inthefollowing,onewillprovideareviewoftheava
