Adaptive Backstepping Control of Systems with Uncertain Nonsmooth Actuator Nonlinearity
نویسندگان
چکیده
In this paper, we present a new scheme to design adaptive controllers for uncertain systems containing nonsmooth nonlinearities in the actuator device. The control design is achieved by introducing certain well defined sign functions and Neural Networks approximations and by using the backstepping technique. For the design and implementation of the controller, no knowledge is assumed on the unknown system parameters and nonlinearity. It is shown that the proposed controller not only can guarantee global stability, but also transient performance.Copyright c ©2005 IFAC
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