Robust adaptive asymptotic tracking control of uncertain nonlinear systems subject to nonsmooth actuator nonlinearities

SUMMARY In this paper, we control a class of uncertain nonlinear systems preceded by nonsmooth actuator nonlinearities such as dead zone, backlash, or hysteresis. Such nonlinearities will be handled in a unified framework by using a linear model with time‐varying parameters to approximate their inpu...

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Published inInternational journal of adaptive control and signal processing Vol. 27; no. 1-2; pp. 108 - 121
Main Authors Zheng, Yunfeng, Wen, Changyun, Li, Zhengguo
Format Journal Article
LanguageEnglish
Published Bognor Regis Blackwell Publishing Ltd 01.01.2013
Wiley Subscription Services, Inc
Subjects
Actuators
Adaptive control
Asymptotic properties
backstepping
Computer simulation
Dynamical systems
Nonlinear dynamics
Nonlinear systems
Nonlinearity
nonsmooth nonlinearity
Nussbaum gain technique
Reproduction
robust asymptotic tracking control
Studies
uncertain nonlinear systems
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Summary:SUMMARY In this paper, we control a class of uncertain nonlinear systems preceded by nonsmooth actuator nonlinearities such as dead zone, backlash, or hysteresis. Such nonlinearities will be handled in a unified framework by using a linear model with time‐varying parameters to approximate their input–output characteristics. Two robust adaptive control schemes based on Nussbaum gain technique are proposed. The controllers can guarantee global uniform boundedness of all signals and also asymptotic tracking. Simulation results also illustrate the effectiveness of the proposed schemes. Copyright © 2012 John Wiley & Sons, Ltd.
Bibliography:ark:/67375/WNG-4QV9V4P1-C
istex:977F994190BE84E8877F9B1DA000E0A62CE95E07
ArticleID:ACS2336
ObjectType-Article-1
SourceType-Scholarly Journals-1
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ObjectType-Article-2
ObjectType-Feature-1
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ISSN:0890-6327
1099-1115
DOI:10.1002/acs.2336