Robust Adaptive Control for a Class of Systems with Deadzone Nonlinearity

Nizar J. Ahmad^*, Mahmud J. Alnaser, Ebraheem Sultan, Khuloud A. Alhendi

Faculty of Electronic Engineering Technology, College of Technological Studies, The Public Authority for Applied Education and Training (PAAET), Kuwait City, Kuwait.

DOI: 10.4236/ica.2015.61002                

Abstract

This paper presents a robust adaptive control scheme for a class of continuous-time linear systems with unknown non-smooth asymmetrical deadzone nonlinearity at the input of the plant. The methodology is applied to handle input deadzone as well as unmeasurable disturbances simultaneously in strictly matched systems. The proposed controller robustly cancels any residual distortion caused by the inaccurate deadzone cancellation scheme. The scheme is shown to successfully cancel the deadzone’s deleterious effect as well as eliminate other unmeasurable disturbances within the span of the input. The new controller ensures the global stability of all states and adaptations, and achieves asymptotic tracking. The asymptotic stability of the closed-loop system is proven by Lyapunov arguments, and simulation results confirm the efficacy of the control methodology.

Keywords

Adaptive Control, Non-Symmetric Deadzone, Hard Nonlinearity

Conflicts of Interest

The authors declare no conflicts of interest.

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