Page 215 - Adaptive Identification and Control of Uncertain Systems with Nonsmooth Dynamics

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

A hyperbolic tangent function is adopted to approximate the saturation,
and an ESO is designed to compensate for the lumped uncertainties in-
cluding the saturation approximation error and friction. The observer gains
are determined by using the pole placement technique. Moreover, an adap-
tive sliding mode controller is developed to ensure that the system output
tracks a desired signal. The effectiveness and superior performance of the
proposed control method are verified by simulations.

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