Abstract:

A neural network robust adaptive control scheme for a class of uncertain nonlinear systems with nonsymmetric actuator deadzone fault is proposed based on the principle of backstepping sliding mode control. The restrictions that the deadzone slopes and the boundaries are equal and symmetrical are removed by simplifying the deadzone fault model. The explosion of complexity in traditional backstepping design is avoided by combining with the dynamic surface control. The proposed method does not require the priori knowledge of the control direction to be known and eliminates the effect of actuator deadzone fault, thus the output of the system is able to converge to a small neighborhood of the desired trajectory. Simulation results validate the effectiveness of the proposed method.