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Robust Adaptive Control for a Class of Systems with Deadzone Nonlinearity

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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.
 
Cite this paper
Ahmad, N. , Alnaser, M. , Sultan, E. and Alhendi, K. (2015) Robust Adaptive Control for a Class of Systems with Deadzone Nonlinearity. Intelligent Control and Automation, 6, 10-19. doi: 10.4236/ica.2015.61002.
 
References
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[2]Toa, G. and Kokotovic, P. (1994) Adaptive Control of Plants with Unknown Dead-Zones. IEEE Transactions on Automatic Control, 39, 59-68. http://dx.doi.org/10.1109/9.273339
 
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[4]Lewis, F.L., Tim, W.K., Wang, L.-Z. and Li, Z.X. (1999) Deadzone Compensation in Motion Control System Using Adaptive Fuzzy Logic Control. IEEE Transactions on Control Systems Technology, 7, 731-742. http://dx.doi.org/10.1109/87.799674
 
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[8]Sedighi, H.M., Shirazi, K.H. and Zare, J. (2012) Novel Equivelent Function for Deadzone Nonlinearity: Applied to Analytical Solution of Beam Vibration Using He’s Parameter Expanding Method. Latin American Journal of Solids and Structures, 9, 1-10.
 
[9]Ahmad, N.J., Alnaser, M.J. and Alsharhan, W.E. (2013) Asymptotic Tracking of Systems with Non-Symmetrical Input Deadzone Nonlinearity. International Journal of Automation and Power Engin- eering, 2, 287-292.
 
[10]Ahmad, N.J., Ebraheem, H., Alnaser, M. and Alostath, J. (2011) Adaptive Control of a DC Motor with Uncertain Deadzone Nonlinearity at the Input. Control and Decision Conference (CCDC), 4295-4299.
 
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