Adaptive Tracking Control for Nonlinear Systems with a Class of Input Nonlinearities

Abstract

AbstractAn adaptive tracking control approach is presented for nonlinear systems with a class of input nonlinearities. A generalized model has been developed for a class of non‐smooth nonlinearities that include dead‐zone, backlash and ‘backlash‐like’ hysteresis. By using the developed model and Nussbaum‐gain technique, the problem of input nonlinearity is solved perfectly. The proposed method is available even when the designer is uncertain about the type of input nonlinearities mentioned above, and the knowledge on the bounds of these nonlinearity parameters is not required. Furthermore, it is proved that all closed‐loop signals are bounded and the tracking error converges to a small residual set asymptotically. Two simulation examples are provided to demonstrate the effectiveness of the proposed method.