Robust Adaptive Control for a Class of Systems with Deadzone Nonlinearity

• 作者: Ebraheem Sultan Khuloud A. Alhendi Mahmud J. Alnaser Nizar J. Ahmad
• 来源期刊: 智能控制与自动化(英文)
• 学科: 数学
• 关键词: ADAPTIVE Control Non-Symmetric DEADZONE HARD NONLINEARITY
• 年，卷（期）: 2015,（1）
• 页码范围: 10-19
• 页数: 10页
• 分类号: O1

摘要

This paper presents a robust adaptive control scheme for a class of continuous-time linear systems with unknown non-smooth asymmetrical deadzone nonlinearity at the input of the plant. The methodology is applied to handle input deadzone as well as unmeasurable disturbances simultaneously in strictly matched systems. The proposed controller robustly cancels any residual distortion caused by the inaccurate deadzone cancellation scheme. The scheme is shown to successfully cancel the deadzone’s deleterious effect as well as eliminate other unmeasurable disturbances within the span of the input. The new controller ensures the global stability of all states and adaptations, and achieves asymptotic tracking. The asymptotic stability of the closed-loop system is proven by Lyapunov arguments, and simulation results confirm the efficacy of the control methodology.