Deadzone compensation in discrete time using adaptive fuzzy logic

A fuzzy logic (FL) compensator is designed for control of nonlinear discret e-time systems with input deadzone. The classification property of FL syste ms makes them a natural candidate for the rejection of errors induced by th e deadzone, which has regions in which it behaves differently. A discrete-t ime tuning algorithm is given for the FL parameters so that the deadzone co mpensation scheme becomes adaptive, guaranteeing bounded tracking errors an d parameter estimates. A rigorous proof of stability and performance is giv en and a simulation example verifies performance. Unlike standard discrete- time adaptive control techniques, no certainty equivalence assumption is ne eded.