Hsu, F.-Y.F.-Y.HsuLI-CHEN FU2020-05-042020-05-04200101650114https://scholars.lib.ntu.edu.tw/handle/123456789/488932https://www.scopus.com/inward/record.uri?eid=2-s2.0-0035899613&doi=10.1016%2fS0165-0114%2800%2900068-3&partnerID=40&md5=5b1347c070b554ee6870fee57b63f684This paper presents a new design of adaptive fuzzy variable structure control to solve the traditional problem of model reference adaptive control (MRAC) for a class of single-input, single-output minimum-phase uncertain nonlinear systems via backstepping. Instead of taking the tedious coordinate transformation and yielding a "hard" high-gain controller, we introduce smooth B-spline-type membership functions into the controller so as to compensate for the uncertainties much "softer", i.e., in a much smoother and locally weighted manner. To be rigorous, it is shown that the stability of the closed-loop system can be assured and the tracking error can globally approach to an arbitrary preset dead-zone range. In order to demonstrate the effectiveness of the developed novel controller, an example is extensively simulated to provide quite satisfactory performance. © 2001 Elsevier Science B.V.Adaptive control; B-spline; Backstepping; Fuzzy control; Variable structure controlControl system analysis; Fuzzy control; Mathematical models; Membership functions; Nonlinear control systems; System stability; Uncertain systems; Backstepping; Model reference adaptive control; Variable structure control; Adaptive control systemsjournal article10.1016/S0165-0114(00)00068-32-s2.0-0035899613