ADAPTIVE DEAD-ZONE COMPENSATION FOR OUTPUT-FEEDBACK CANONICAL SYSTEMS

An adaptive output feedback dead-zone compensation scheme is designed for systems with an unknown dead-zone at the input of an nth-order smo oth nonlinear dynamics in the output-feedback canonical form. The prop osed adaptive controller employs an adaptive dead-zone inverse to canc el the dead-zone and uses a back-stepping design for adaptive output f eedback control. It has a new state observer parametrization that is n eeded to handle the dead-zone uncertainty and a new robust control law that is suitable for the parameter projection needed to implement an adaptive dead-zone inverse. The adaptive dead-zone compensation design ensures closed-loop signal boundedness and improves system tracking p erformance.