Adaptive Feedback Control for a Class of Uncertain Nonlinear Systems with Dead-Zone

In this paper, a robust adaptive feedback controller is proposed based on backstepping method and neural network for a class of uncertain nonlinear systems with deadzone. The subsystem uncertainty is approximated using radial basis function (RBF) neural network and weight value update law is given for approximating the subsystem uncertainty. Based on the output of the neural network, the robust adaptive control scheme is presented with backstepping method. The designed controller can not only guarantee robust stability of the uncertain nonlinear system, but also make it has L₂-gain performance index which less than or equal to Gt 0.