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

被引：40
|
作者：
Zheng, Yunfeng [1 ]
Wen, Changyun [2 ]
Li, Zhengguo [3 ]
机构：
[1] Dalian Maritime Univ, Nav Coll, Dalian 116026, Peoples R China
[2] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore
[3] ASTAR, Inst Infocomm Res, Dept Signal Proc, Singapore 138632, Singapore
来源：
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING | 2013年 / 27卷 / 1-2期
关键词：
uncertain nonlinear systems; robust asymptotic tracking control; backstepping; Nussbaum gain technique; nonsmooth nonlinearity; BACKLASH-LIKE HYSTERESIS; NEURAL-NETWORK CONTROL; UNKNOWN DEAD-ZONE; CONTROL COEFFICIENTS; FEEDBACK FORM; PLANTS; STABILIZATION; INPUT;
D O I：
10.1002/acs.2336
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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 inputoutput 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 (c) 2012 John Wiley & Sons, Ltd.
引用
收藏
页码：108 / 121
页数：14
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