Adaptive Identification and Control of Uncertain Systems with Non-smooth Dynamics

I. Introduction 1

II. Modeling and control of uncertain systems with friction 2
1. Friction dynamics and modeling
2. Adaptive control for servo systems with LuGrefriction model
3. Robust tracking control for two-inertia systems with friction compensation
4. Adaptive prescribed performance control with continuous friction model
5. Composite adaptive control with discontinuous piecewise parametric friction model

III. Modeling and control of uncertain systems with input dead zone
6. Dead zone dynamics and modeling
7. Adaptive Robust Finite-Time Neural Control of Uncertain PMSM Servo System with Nonlinear Dead Zone
8. Adaptive dynamic surface controlfor strict-feedback systems with nonlinear dead zone
9. Adaptive prescribed performance control for strict-feedback systems with nonlinear dead zone
10.A modified dynamic surface control for pure-feedback systems with nonlinear dead zone

IV. Modeling and control of uncertain systems with saturation
11.Saturation dynamics and modeling
12.ESO based adaptive sliding mode control for systems with input saturation
13.Nonsingular terminal sliding mode funnel control for systems with unknown input saturation
14.Adaptive neural dynamic surface sliding mode control for uncertain systems with saturation

V. Modeling and control of uncertain systems with hysteresis
15.Hysteresis dynamics and modeling
16.Adaptive parameter estimation and model inverse control for uncertain systems with backlash
17.Parameter identification and control for Hammersteinsystems with hysteresis
18.Adaptive parameter estimation and suspension control with continuous hysteresis model

Appendix A. Constants and Conversion Factors
Appendix B. Introduction to MATLAB

Adaptive Identification and Control of Uncertain Systems with Nonsmooth Dynamics reports some of the latest research on modeling, identification and adaptive control for systems with nonsmooth dynamics (e.g., backlash, dead zone, friction, saturation, etc). The authors present recent research results for the modelling and control designs of uncertain systems with nonsmooth dynamics, such as friction, dead-zone, saturation and hysteresis, etc., with particular applications in servo systems. The book is organized into 19 chapters, distributed in five parts concerning the four types of nonsmooth characteristics, namely friction, dead-zone, saturation and hysteresis, respectively. Practical experiments are also included to validate and exemplify the proposed approaches.

This valuable resource can help both researchers and practitioners to learn and understand nonlinear adaptive control designs. Academics, engineers and graduate students in the fields of electrical engineering, control systems, mechanical engineering, applied mathematics and computer science can benefit from the book. It can be also used as a reference book on adaptive control for servo systems for students with some background in control engineering.

• Explains the latest research outputs on modeling, identification and adaptive control for systems with nonsmooth dynamics
• Provides practical application and experimental results for robotic systems, and servo motors

Researchers and engineers working on the topics of electrical engineering, process engineering, computer science, mechanical engineering, automotive and aerospace, engineering and the other manmade systems