Hybrid Memory-Based Control of Dynamic Systems with Uncertain Nonlinearities and Unpredictable Faults

This work is focused on controlling nonlinear systems with uncertain dynamics arisen from external disturbances, unmodeled nonlinearities, and/or unpredictable faults. A simple yet effective "hybrid memory-based control" method is proposed to cope with such uncertainties. The method does not involve direct nonlinearity cancellation, or on-line estimation of upper bounds on uncertainties, making it easier and more feasible for design and implementation as compared with most existing methods. The method is verified via simulation on friction compensation in motion control systems