Efficient Adaptive Tracking of a Class of Uncertain Nonlinear Systems with Completely Unknown Symmetric Dead-Zone Inputs

Handling various types of uncertainty is an integral feature of any robust control design. In this paper, we develop a new adaptive control strategy for accurate trajectory tracking control of a class of nonlinear systems involving unknown symmetrical dead-zones control inputs. The developed algorithm is essentially conceived to ensure reliable trajectory tracking for dynamical systems written in controllable canonical form. We show that the adaptive compensation algorithm requires neither the bounds of the system parameters nor an a priori minimal knowledge of the dead-zone. In order to demonstrate the effectiveness of the obtained theoretical results, a numerical example is provided