Adaptive Fuzzy Compensation Control of MIMO Stochastic Nonlinear Systems with Input Hysteresis

In this paper, an observer-based adaptive fuzzy compensation control scheme of multi-input and multi-output (MIMO) strict-feedback nonlinear systems is developed, where stochastic disturbances, actuator faults and input hysteresis are considered at the same time. The design difficulty of unknown system functions is eliminated via the universal approximators, i.e., fuzzy logic systems, and a reduced-order observer is constructed to estimate the unmeasurable state variables. By applying the backstepping design framework, an adaptive fuzzy controller is constructed that can compensate for the effects of actuator faults/failures and hysteresis nonlinearities when the system operates. It is proved that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded (SGUUB), and the output of a subsystem follows the same trajectory with the corresponding reference signal. Furthermore, a simulation result is demonstrated the validity of the designed scheme.