Robust tracking control of nonlinear systems with dead-zones and norm-bounded uncertainties

The robust tracking control problem for a class of nonlinear systems with unknown dead-zones and norm-bounded uncertainties is studied in this paper. Firstly, the robustness against structural and parametrical uncertainties, unknown disturbances and unknown dead-zones are considered. The adaptive variable structure controller is then proposed based on adaptive control method and variable structure control approach. The improved control law is given to avoid the chattering, and ensure that the closed system is ultimately asymptotically bounded. Finally, simulation results confirm that the performance is satisfactory.