Adaptive Control of Nonlinear Systems with Uncertain Dead-zone Nonlinearity

摘要

In this paper, we present a new scheme to design an adaptive controller for uncertain nonlinear systems with unknown dead-zone nonlinearity. The control design is achieved by introducing smooth approximate dead-zone model and certain well defined functions and by using backstepping technique. For the design and implementation of the controller, no knowledge is assumed on the uncertain system parameters and dead-zone parameters. It is shown that the proposed controller not only can guarantee global stability, but also can achieve excellent transient performance.