Dead Zone Model Based Adaptive Backstepping Control for a Class of Uncertain Saturated Systems

摘要

In this paper, a dead zone based model of saturation phenomenon is proposed, which enables to model diverse kinds of saturation, such as hard limitted and soft limitted ones. Due to the use of a linear in parameter approach, the proposed model is consistent with the available adaptive control techniques in the literature. Besides, based on the proposed model, an adaptive controller is designed for a class of nonlinear saturated systems, in which, the shape of saturation phenomenon is assumed to be unknown. The effectiveness of the proposed method and its robustness against change in initial condition and refernce signal is evaluated via simulated examples.