Function Approximation-based Sliding Mode Adaptive Control for Time-varying Uncertain Nonlinear Systems
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Abstract
Dead zone characteristics exist in many physical components of control systems. They are nonlinear features particularly in direct current (DC) motor position tracking control systems, mainly caused by the uncertain time-varying nonlinear friction. They can severely limit the control performance owing to their non-smooth nonlinearities. However, dead zone characteristics usually are not easy to be known exactly and may vary with time in practical. In addition to the uncertainties in the linear part of the plant, controllers are often required to accommodate time-varying dead zone uncertainties. In general, there are two usual methods treating the systems with uncertain time-varying dead zone characteristics caused by uncertain nonlinear frictions in DC motor position control systems. The first one is to separate the unknown dead zone from the original DC motor systems and construct an adaptive dead zone inverse, and then compensate the effects of unknown dead zone characteristics (Gang &
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