Abstract
In this paper, the problem of adaptive tracking control is addressed for a class of nonlinear systems with unknown constant parameters and unknown actuator nonlinearity. The actuator nonlinearity is modelled as the backlash-like hysteresis, which is described by a differential model. The prior knowledge on the control gain sign is not required, and only the assumption on the reference signal is made. By combining the adaptive backstepping technique with the Nussbaum gain approach, an adaptive compensation controller design approach is developed. It is proved that the proposed control approach can guarantee that all the signals in the closed-loop system are bounded, and the tracking error can converge to zero asymptotically despite the presence of the actuator hysteresis. Two simulation examples are included to illustrate the effectiveness of the proposed approach.
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Zhengqiang Zhang
Zhengqiang Zhang received the BSc and MSc degrees from Qufu Normal University, Qufu, China, in 2000 and 2003, respectively, and the PhD degree from the Nanjing University of Science and Technology, Nanjing, China, in 2011. Currently, he is with the School of Electrical Engineering and Automation, Qufu Normal University, Qufu, China. His current research interests include adaptive control, control of nonlinear systems, fault-tolerant control, and time-delay systems.
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Hao Shen
Hao Shen received the BSc degree in Communication Engineering from Anhui University of Technology, Ma’anshan, China, in 2006, and the PhD degree in Control Theory and Control Engineering from Nanjing University of Science and Technology, Nanjing, China, in 2011. He is currently with the School of Electrical Engineering and Information, Anhui University of Technology. He has been doing postdoctoral research with Department of Electrical Engineering, Yeungnam University, Gyeongsan, Republic of Korea, since March 2013. His current research interests include stochastic hybrid systems, network control systems, robust control and filtering, and nonlinear systems.
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Ze Li
Ze Li received the BSc degree from Nanjing University of Science and Technology, Nanjing , China, in 2005 and the PhD degree from Nanjing University of Science and Technology, Nanjing, China, in 2010 (combined M-PhD programme). Since February 2010, she has joined the College of Electronic and Information Engineering, Suzhou University of Science and Technology, Suzhou, China, where she is currently a lecturer. Her research interests include robust control and filtering, time-delay systems, stochastic systems, nonlinear systems, and fuzzy systems.