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Robust adaptive asymptotic tracking control of uncertain nonlinear systems subject to nonsmooth actuator nonlinearities
Author(s) -
Zheng Yunfeng,
Wen Changyun,
Li Zhengguo
Publication year - 2012
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.2336
Subject(s) - control theory (sociology) , backlash , nonlinear system , actuator , adaptive control , robust control , dead zone , computer science , tracking (education) , control (management) , mathematics , artificial intelligence , psychology , pedagogy , oceanography , physics , quantum mechanics , geology
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.