Robust adaptive control for uncertain nonlinear systems with unknown control directions and actuator nonlinearity |
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Authors: | Jianhao WANG and Jianbo HU |
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Affiliation: | Engineering College, Air Force Engineering University,Engineering College, Air Force Engineering University |
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Abstract: | A robust adaptive control scheme is proposed for a class of uncertain nonlinear systems in strict feedback form with both unknown control directions and non-symmetric dead-zone nonlinearity based on backstepping design. The conditions that the dead-zone slopes and the boundaries are equal and symmetric are removed by simplifying nonlinear dead-zone input model, the assumption that the priori knowledge of the control directions to be known is eliminated by utilizing Nussbaum-type gain technique and neural networks (NN) approximation capability. The possible controller singularity problem and the effect of dead-zone input nonlinearity are avoided perfectly by combining integral Lyapunov design with sliding mode control strategy. All the signals in the closed-loop system are guaranteed to be semi-globally uniformly ultimately bounded and the tracking error of the system is proven to be converged to a small neighborhood of the origin. Simulation results demonstrate the effectiveness of the proposed control scheme. |
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Keywords: | Uncertain nonlinear system Robust adaptive control Actuator nonlinearity Backstepping Sliding mode control Dead-zone |
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