Robust adaptive control of a class of nonlinear systems preceded by unknown non-symmetrical dead-zone

This paper deals with the adaptive control for a class of continuous-time nonlinear dynamic systems preceded by unknown non-symmetrical, non-equal slope dead-zones. By exploring the properties of the dead-zone model intuitively and mathematically, a robust adaptive control scheme is developed by constructing a dead-zone inverse for compensation. The new adaptive control law ensures global stability of the adaptive system and achieves desired tracking precision. Simulations performed on a typical nonlinear system illustrate and clarify the validity of this approach.