This paper, for the first time, focuses on the problem of funnel control for strict-feedback systems with input deadzone and saturation, simultaneously. A new smooth function in non-affine form is firstly proposed to approximate the non-smooth input deadzone and saturation and transformed into an affine form by the mean-value theorem. The unknown nonlinear functions and external disturbances are estimated by fuzzy logic systems. An improved funnel error is given and embedded in the procedure of controller design. Based on the backstepping method, an adaptive fuzzy funnel controller is constructed, which guarantees that the output tracking error falls within a pre-set funnel and all the signals in the closed-loop system are semi-globally uniformly and ultimately bounded. Simulation results demonstrate the effectiveness of the developed controller.

中文翻译：

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具有输入死区和饱和度的非线性系统的自适应模糊漏斗控制

本文首次同时关注具有输入死区和饱和度的严格反馈系统的漏斗控制问题。首次提出了一种新的非仿射形式的平滑函数来逼近非平滑输入死区和饱和度，并通过均值定理转化为仿射形式。通过模糊逻辑系统估计未知的非线性函数和外部干扰。给出了改进的漏斗误差并将其嵌入到控制器设计过程中。基于反步法构建了自适应模糊漏斗控制器，保证输出跟踪误差落在预先设定的漏斗内，闭环系统中的所有信号半全局一致且最终有界。仿真结果证明了所开发控制器的有效性。