An adaptive inverse controller is developed for feedback linearizable nonlinear systems with nonsmooth actuator nonlinearities such as a dead-zone characteristic. The use of an actuator nonlinearity inverse and a feedback linearizing controller leads to an error equation suitable for deriving an adaptive update law for the inverse. Closed-loop signal boundedness is proved and system performance improvement is shown by simulation results.
['Xiaoli Ma', 'Gang Tao']
Adaptive actuator compensation control with feedback linearization