access icon free Backstepping control of sandwich-like non-linear systems with deadzone non-linearity

© The Institution of Engineering and Technology
Received 13/04/2017, Accepted 04/09/2017, Revised 27/06/2017, Published 04/09/2017

This study studies the output tracking control of a class of sandwich-like systems with state-dependent deadzone non-linearity between two cascaded subsystems (e.g. the gear transmission systems). An exact differentiator-based backstepping control for such a sandwich-like non-linear system is proposed. The proposed controller utilises the high-order sliding mode robust exact differentiator to compensate the impact of non-strict feedback coupling term due to the sandwiched deadzone. The stability of the closed-loop system is guaranteed to be uniform-ultimately bounded and the output tracking error converges to a residual set. Finally, two simulation examples are provided to demonstrate the tracking performance and effectiveness of the proposed controller.

Inspec keywords: nonlinear control systems; control nonlinearities; feedback; variable structure systems; closed loop systems

Other keywords: exact differentiator-based backstepping control; closed-loop system stability; sandwich-like nonlinear system; high-order sliding mode robust exact differentiator

Subjects: Nonlinear control systems; Multivariable control systems

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