Backstepping control of sandwich-like non-linear systems with deadzone non-linearity

摘要

This study studies the output tracking control of a class of sandwich-like systems with state-dependent deadzone non-linearity between two cascaded subsystems (e.g. the gear transmission systems). An exact differentiator-based backstepping control for such a sandwich-like non-linear system is proposed. The proposed controller utilises the high-order sliding mode robust exact differentiator to compensate the impact of non-strict feedback coupling term due to the sandwiched deadzone. The stability of the closed-loop system is guaranteed to be uniform-ultimately bounded and the output tracking error converges to a residual set. Finally, two simulation examples are provided to demonstrate the tracking performance and effectiveness of the proposed controller.