Design of Observer-based Adaptive Controller for Nonlinear Systems with Unmodeled Dynamics and Actuator Dead-zone  

作　　者：Xue-Li Wu Xiao-Jing Wu Xiao-Yuan Luo Quan-Min Zhu 

机构地区：[1]Department of Electrical Engineering, Yanshan University, Qinhuangdao 066004, PRC [2]College of Electrical Engineering and Information, Hebei University of Science and Technology, Shijiazhuang 050018, PRC [3]Bristol Institute of Technology, University of the West of England, Coldharbour Lane, Bristol BS161QY, UK

出　　处：《International Journal of Automation and computing》2011年第2期201-208,共8页国际自动化与计算杂志（英文版）

基　　金：supported by National Natural Science Foundation of China (No. 60704009)

摘　　要：This paper presents an up-to-date study on the observer-based control problem for nonlinear systems in the presence of unmodeled dynamics and actuator dead-zone.By introducing a dynamic signal to dominate the unmodeled dynamics and using an adaptive nonlinear damping to counter the effects of the nonlinearities and dead-zone input,the proposed observer and controller can ensure that the closed-loop system is asymptotically stable in the sense of uniform ultimate boundedness.Only one adaptive parameter is needed no matter how many unknown parameters there are.The system investigated is more general and there is no need to solve Linear matrix inequality （LMI）.Moreover,with our method,some assumptions imposed on nonlinear terms and dead-zone input are relaxed.Finally,simulations illustrate the effectiveness of the proposed adaptive control scheme.This paper presents an up-to-date study on the observer-based control problem for nonlinear systems in the presence of unmodeled dynamics and actuator dead-zone.By introducing a dynamic signal to dominate the unmodeled dynamics and using an adaptive nonlinear damping to counter the effects of the nonlinearities and dead-zone input,the proposed observer and controller can ensure that the closed-loop system is asymptotically stable in the sense of uniform ultimate boundedness.Only one adaptive parameter is needed no matter how many unknown parameters there are.The system investigated is more general and there is no need to solve Linear matrix inequality （LMI）.Moreover,with our method,some assumptions imposed on nonlinear terms and dead-zone input are relaxed.Finally,simulations illustrate the effectiveness of the proposed adaptive control scheme.

关 键 词：OBSERVER nonlinear system unmodelded dynamics adaptive actuator dead-zone. 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置] TP271[自动化与计算机技术—控制科学与工程]