Design of Observer-based Adaptive Controller for Nonlinear Systems with Unmodeled Dynamics and Actuator Dead-zone

摘要

This paper presents an up-to-date study on the observer-based control problem for nonlinear systems in the presence of unmodeled dynamics and actuator dead-zone.By introducing a dynamic signal to dominate the unmodeled dynamics and using an adaptive nonlinear damping to counter the effects of the nonlinearities and dead-zone input,the proposed observer and controller can ensure that the closed-loop system is asymptotically stable in the sense of uniform ultimate boundedness.Only one adaptive parameter is needed no matter how many unknown parameters there are.The system investigated is more general and there is no need to solve Linear matrix inequality (LMI).Moreover,with our method,some assumptions imposed on nonlinear terms and dead-zone input are relaxed.Finally,simulations illustrate the effectiveness of the proposed adaptive control scheme.