Journal
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
Volume 352, Issue 12, Pages 5686-5707Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.jfranklin.2015.09.013
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Funding
- National Natural Science Foundation of China [51305203]
- China Postdoctoral Science Foundation [2015T80553]
- Natural Science Foundation of Jiangsu Province [BK20141402]
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This paper considers the tracking control for a class of uncertain single-input and single-output (SISO) nonlinear strict-feedback systems with unknown input dead-zone nonlinearity, parametric uncertainties and unknown bounded disturbances. By constructing a smooth dead-zone inverse and applying the backstepping recursive design technique, a robust adaptive backstepping controller is proposed, in which adaptive control law is synthesized to handle parametric uncertainties and a novel robust control law to attenuate disturbances. The robust control law is developed by integrating a sufficiently smooth positive integral function at each step of the backstepping design procedure. In addition, a smooth projection mapping is used and assumptions are made that the prior knowledge of the extents of parametric uncertainties and the variation ranges of the bounds of disturbances is known to facilitate the backstepping recursive design. However, the exact bounds of disturbances are not required. The major feature of the proposed controller is that it can theoretically guarantee asymptotic output tracking performance, in spite of the presence of unknown input dead-zone nonlinearity, various parametric uncertainties and unknown bounded disturbances via Lyapunov stability analysis. Comparative simulation results are obtained to illustrate the effectiveness of the proposed control strategy. (C) 2015 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
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