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Synthesis of adaptive gain robust model-following/tracking controllers for uncertain systems with multiple unknown dead-zone inputs via piecewise Lyapunov functions

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  • Satoshi Hayakawa
  • Takuya Nakagawa
  • Kazuma Hasegawa
  • Hidetoshi Oya
  • Yoshikatsu Hoshi

Abstract

This paper considers a design problem of adaptive gain robust model-following/tracking controllers for a class of uncertain systems with multiple unknown dead-zone inputs via piecewise Lyapunov functions. The parameters for dead-zone characteristics are assumed to be unknown, and an adaptive dead-zone inverse method is applied so as to reduce the effect for dead-zone non-linearities. Moreover, for the purpose of reducing the effects of matched and mismatched uncertainties, compensation inputs are introduced. The proposed adaptive gain robust model-following/tracking controller can achieve that the tracking error asymptotically converges to zero. In this paper, by using piecewise Lyapunov functions, we show sufficient conditions for the existence of the proposed adaptive gain robust model-following/tracking controller. Finally, an example is given to demonstrate the effectiveness of the proposed controller design method.

Suggested Citation

  • Satoshi Hayakawa & Takuya Nakagawa & Kazuma Hasegawa & Hidetoshi Oya & Yoshikatsu Hoshi, 2023. "Synthesis of adaptive gain robust model-following/tracking controllers for uncertain systems with multiple unknown dead-zone inputs via piecewise Lyapunov functions," International Journal of Systems Science, Taylor & Francis Journals, vol. 54(8), pages 1790-1802, June.
    • Handle: RePEc:taf:tsysxx:v:54:y:2023:i:8:p:1790-1802
    DOI: 10.1080/00207721.2023.2210135
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