Exponential Tracking Control of Nonlinear Systems with Actuator Nonlinearity ?

In this paper, the problem of adaptive tracking control is addressed for a class of nonlinear systems with parametric uncertainty, unknown actuator nonlinearity and disturbance. Two type of actuator nonlinearities, that is, backlash-like hysteresis and symmetric deadzone, are considered simultaneously. Without constructing the inverse function of actuator nonlinearity, unified control framework is established. An adaptive control scheme, capable of guaranteeing the exponential tracking with zero tracking error, is proposed. Two simulation examples are provided to clarify and verify the proposed approach.