DocumentCode :
2727077
Title :
Efficient Adaptive Tracking of a Class of Uncertain Nonlinear Systems with Completely Unknown Symmetric Dead-Zone Inputs
Author :
Ibrir, Salim ; Xie, Wen Fang ; Su, Chun-Yi
Author_Institution :
Dept. of Mech. & Ind. Eng., Concordia Univ., Montreal, Que.
Volume :
1
fYear :
0
fDate :
0-0 0
Firstpage :
2358
Lastpage :
2363
Abstract :
Handling various types of uncertainty is an integral feature of any robust control design. In this paper, we develop a new adaptive control strategy for accurate trajectory tracking control of a class of nonlinear systems involving unknown symmetrical dead-zones control inputs. The developed algorithm is essentially conceived to ensure reliable trajectory tracking for dynamical systems written in controllable canonical form. We show that the adaptive compensation algorithm requires neither the bounds of the system parameters nor an a priori minimal knowledge of the dead-zone. In order to demonstrate the effectiveness of the obtained theoretical results, a numerical example is provided
Keywords :
adaptive control; compensation; nonlinear control systems; position control; robust control; uncertain systems; adaptive control; adaptive tracking; robust control design; symmetric dead-zone inputs; trajectory tracking control; uncertain nonlinear systems; uncertainty handling; Actuators; Adaptive control; Control systems; Mechatronics; Nonlinear control systems; Nonlinear systems; Robust control; Robust stability; Trajectory; Uncertainty; Adaptive control; Dead-zone compensation; Mechatronics; Non-smooth systems; Stabilization;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
Type :
conf
DOI :
10.1109/WCICA.2006.1712782
Filename :
1712782
Link To Document :
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