Robust adaptive control of a class of nonlinear systems with inverse compensation of unknown asymmetrical backlash nonlinearity

This paper deals with the robust inverse compensation and control for a class of nonlinear systems with unknown asymmetric input backlash. With an analytical expression of the inverse compensation error, a corresponding controller is designed by using the robust adaptive control approach. The developed control law ensures global stability of the whole control system and achieves both stabilization and tracking with desired precision. Simulations performed on an unstable uncertain nonlinear system illustrate and clarify the approach.