Adaptive control for non-affine nonlinear systems with input saturation and output dead zone

Abstract

This paper disposes of the problem of adaptive dynamic surface control for non-affine nonlinear systems. The full state constraints, output dead zone and input saturation are fully considered in the controlled system. Invariant sets are used for a continuous and semi-bounded condition of non-affine functions. The “complexity explosion” issue caused by backstepping procedure is avoided via the dynamic surface control method. A Nussbaum function is used to handle the unknown control coefficient derived from the output dead zone, and barrier Lyapunov functions are employed to handle full state constraints. To counteract the effects of disturbance and uncertainty, the robust compensator is constructed. In addition, it is proved that all signals in the system are bounded and all states satisfy their constraints. Finally, the simulation results show the effectiveness of the proposed method.