Integrated direct/indirect adaptive robust control of a class of nonlinear systems preceded by unknown dead-zone nonlinearity

— This paper presents an integrated direct/indirect adaptive robust control (DIARC) scheme for a class of nonlinear systems preceded by unknown non-symmetric, non-equal slope dead-zone nonlinearity. Due to the inherent nonlinear parametrizaton nature of the unknown dead-zone nonlinearity, existing robust adaptive control methods have been focusing on using various linearly parametrized models with on-line parameter adaptation for an approximate inversion of the unknown dead-zone nonlinearity. As a result, even in the absence of other uncertain nonlinearities and disturbances, asymptotic output tracking can never be achieved. Departing from those approximate dead-zone compensations, this paper makes full use of the fact that, though not being linearly parametrized globally, the unknown dead-zone nonlinearity can be linearly parametrized within certain known working ranges. Thus indirect parameter estimation algorithms with on-line condition monitoring can be employed for an accurate e...

• Type: Conference
• Year: 2009
• Where: CDC
• Authors: Chuxiong Hu, Bin Yao, Qingfeng Wang
• Keywords: Adaptive Robust Control, Asymptotic Output Tracking, CDC 2009, Control Systems, Unknown Dead-zone Nonlinearity