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Adaptive Control and Application for Nonlinear Systems With Input Nonlinearities and Unknown Virtual Control

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    This study presents an adaptive tracking controller for nonlinear systems with input nonlinearities. The controller ensures system stability and is effective for quadrotor attitude control.

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    Area of Science:

    • Control Systems Engineering
    • Robotics
    • Nonlinear Dynamics

    Background:

    • Nonlinear systems often exhibit input deadzone and saturation, complicating control.
    • Accurate modeling of these nonlinearities is crucial for effective control design.

    Purpose of the Study:

    • To develop an adaptive tracking control strategy for nonlinear systems with input deadzone and saturation.
    • To address uncertainties in virtual control coefficients and input nonlinearities.
    • To apply the controller to quadrotor attitude control.

    Main Methods:

    • A novel smooth function is used to approximate input nonlinearities.
    • An auxiliary variable and Nussbaum gain technique are employed.
    • An adaptive tracking controller is designed and implemented.

    Main Results:

    • The proposed controller effectively handles input nonlinearities and uncertainties.
    • All signals in the closed-loop system are guaranteed to be bounded.
    • Simulation results demonstrate the controller's effectiveness for quadrotor attitude control.

    Conclusions:

    • The developed adaptive tracking control strategy is effective for nonlinear systems with input nonlinearities.
    • The approach ensures closed-loop system stability and robust performance.
    • The controller is validated for practical applications like quadrotor attitude control.