Adaptive Backstepping Control of Systems with Uncertain Nonsmooth Actuator Nonlinearity

Authors:	Zhou Jing, Nanyang technological university, Singapore Wen Changyun, Nanyang technological university, Singapore Er Meng Joo, Nanyang technological university, Singapore
Topic:	1.2 Adaptive and Learning Systems
Session:	Adaptive and Learning Approaches to Controller Design
Keywords:	Adaptive control, backstepping, neural networks, global stability

Abstract

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 backsteppingtechnique. 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.