Open AccessBackstepping control of sandwich‐like non‐linear systems with deadzone non‐linearity
Author(s) -
Song Jiawei,
Zuo Zongyu,
Ding Zhengtao
Publication year - 2017
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2017.0407
Subject(s) - differentiator , backstepping , control theory (sociology) , dead zone , controller (irrigation) , tracking error , linearity , bounded function , computer science , residual , mathematics , engineering , adaptive control , control (management) , algorithm , electronic engineering , artificial intelligence , filter (signal processing) , oceanography , geology , computer vision , mathematical analysis , agronomy , biology
This study studies the output tracking control of a class of sandwich‐like systems with state‐dependent deadzone non‐linearity between two cascaded subsystems (e.g. the gear transmission systems). An exact differentiator‐based backstepping control for such a sandwich‐like non‐linear system is proposed. The proposed controller utilises the high‐order sliding mode robust exact differentiator to compensate the impact of non‐strict feedback coupling term due to the sandwiched deadzone. The stability of the closed‐loop system is guaranteed to be uniform‐ultimately bounded and the output tracking error converges to a residual set. Finally, two simulation examples are provided to demonstrate the tracking performance and effectiveness of the proposed controller.