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| Received:October 30, 2010Revised:April 23, 2011 |
| 基金项目:This work was supported by the Scientific Innovation Foundation of Air Force Engineering University (No. XS0901008), and Shanghai Leading Academic Discipline Project (No. J50103). |
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| Robust adaptive control for uncertain nonlinear systems with unknown control directions and actuator nonlinearity |
| Jianhao WANG,Jianbo HU |
| (Engineering College, Air Force Engineering University) |
| 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. |
| Key words: Uncertain nonlinear system Robust adaptive control Actuator nonlinearity Backstepping Sliding mode control Dead-zone |
