Invariant-manifold approach to the stabilization of feedforward nonlinear systems having uncertain dead-zone inputs

This paper examines adaptive control of a special class of feedforward nonlinear systems having unknown and symmetric dead-zone input. The design strategy is based on the combination of the invariant-manifold stabilization technique with the classical adaptive compensation method. Simulation results showed that the presence of symmetric dead-zone inputs in the system dynamics can be handled even for arbitrary large dead-zone parameters.