{"title":"Dynamic Event-Based Hierarchical Fuzzy Prescribed Performance Control for Underactuated Systems With Uncertain Dead Zone","authors":"Yi Shui;Lu Dong;Ya Zhang;Changyin Sun","doi":"10.1109/TFUZZ.2024.3481633","DOIUrl":null,"url":null,"abstract":"In this article, an event-based hierarchical fuzzy prescribed performance control strategy is proposed for a class of underactuated systems with input dead zones. It is worth noting that the slope of the input dead zone is uncertain (time-varying/fuzzy). Therefore, a suitable hierarchical fuzzy logic system (HFLS) is designed to compensate for uncertain dead zones while significantly reducing the number of fuzzy rules. In addition, a dynamic event-based mechanism (DEBM) is proposed, which not only determines when to update the control law of the upper-level fuzzy system, but also when to update the parameters of the lower-level fuzzy controller. Moreover, this strategy can better tolerate interference while achieving the specified transient and steady-state performance of the system, and greatly save computing/communication resources. Furthermore, a Lyapunov function is designed to prove the stability of the system and eliminate the Zeno phenomenon. Finally, simulations are conducted using a quadcopter under two uncertain dead zone conditions to verify the effectiveness of the method.","PeriodicalId":13212,"journal":{"name":"IEEE Transactions on Fuzzy Systems","volume":"32 12","pages":"7118-7128"},"PeriodicalIF":10.7000,"publicationDate":"2024-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Transactions on Fuzzy Systems","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10720170/","RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE","Score":null,"Total":0}
引用次数: 0
Abstract
In this article, an event-based hierarchical fuzzy prescribed performance control strategy is proposed for a class of underactuated systems with input dead zones. It is worth noting that the slope of the input dead zone is uncertain (time-varying/fuzzy). Therefore, a suitable hierarchical fuzzy logic system (HFLS) is designed to compensate for uncertain dead zones while significantly reducing the number of fuzzy rules. In addition, a dynamic event-based mechanism (DEBM) is proposed, which not only determines when to update the control law of the upper-level fuzzy system, but also when to update the parameters of the lower-level fuzzy controller. Moreover, this strategy can better tolerate interference while achieving the specified transient and steady-state performance of the system, and greatly save computing/communication resources. Furthermore, a Lyapunov function is designed to prove the stability of the system and eliminate the Zeno phenomenon. Finally, simulations are conducted using a quadcopter under two uncertain dead zone conditions to verify the effectiveness of the method.
期刊介绍:
The IEEE Transactions on Fuzzy Systems is a scholarly journal that focuses on the theory, design, and application of fuzzy systems. It aims to publish high-quality technical papers that contribute significant technical knowledge and exploratory developments in the field of fuzzy systems. The journal particularly emphasizes engineering systems and scientific applications. In addition to research articles, the Transactions also includes a letters section featuring current information, comments, and rebuttals related to published papers.