Adaptive output feedback tracking of nonlinear systems with uncertain nonsymmetric dead-zone input. (December 2019)

• Record Type: Journal Article
• Authors: Jia, Xianglei; Xu, Shengyuan; Qi, Zhidong; Zhang, Zhengqiang; Chu, Yuming
• Is Part Of: ISA transactions. Volume 95(2019)
• Page Start: 35
• Page End: 44
• Publication Date: 2019-12
• Subjects: Adaptive -- Practical tracking -- Output feedback -- Nonlinear systems -- Nonsymmetric dead-zone; Engineering instruments -- Periodicals; Engineering instruments; Periodicals; Electronic journals; 629.805
• DOI: 10.1016/j.isatra.2019.05.020
• Languages: English
• ISSNs: 0019-0578

Abstract

Abstract: In this paper, the problem of adaptive practical tracking is investigated by output feedback for a class of uncertain nonlinear systems subject to nonsymmetric dead-zone input nonlinearity with parameters of dead-zone being unknown. Instead of constructing the inverse of dead-zone nonlinearity, an adaptive robust control scheme is developed by designing an output compensator including two dynamic gains based respectively on identification and non-identification mechanism. With the aid of dynamic high-gain scaling approach and Backstepping method, stability analysis of the closed-loop system is proceeded using non-separation principle, which shows that the proposed controller guarantees that all closed-loop signal is bounded while the output of system tracks a broad class of bounded reference trajectories by arbitrarily small error prescribed previously. Finally, two examples are given to illustrate our controller effective. Highlights: An adaptive robust control scheme is developed by designing an output compensator including two dynamic gains based respectively on identification and non-identification mechanism instead of constructing the inverse of dead-zone nonlinearity. Stability analysis of the closed-loop system is proceeded using non-separation principle, which shows that the proposed controller guarantees that all closed-loop signal is bounded while the output of system tracks a broad class of bounded reference trajectories by arbitrarily small error prescribed previously.