title: L1 adaptive control of uncertain gear transmission servo systems with deadzone nonlinearity.
abstract: This paper deals with the adaptive control problem of Gear Transmission Servo (GTS) systems in the presence of unknown deadzone nonlinearity and viscous friction. A global differential homeomorphism based on a novel differentiable deadzone model is proposed first. Since there exist both matched and unmatched state-dependent unknown nonlinearities, a full-state feedback L1 adaptive controller is constructed to achieve uniformly bounded transient response in addition to steady-state performance. Finally, simulation results are included to show the elimination of limit cycles, in addition to demonstrating the main results in this paper.
authors.affiliation: The Seventh Research Division, Beihang University (aka Beijing University of Aeronautics and Astronautics, BUAA), Beijing 100191, China; Science and Technology on Aircraft Control Laboratory, Beihang University (BUAA), Beijing 100191, China. Electronic address: zzybobby@buaa.edu.cn.
authors.forename: Zongyu
authors.initials: Z
authors.lastname: Zuo
authors.affiliation: Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801 USA.
authors.forename: Xiao
authors.initials: X
authors.lastname: Li
authors.affiliation: The Institute of Information Technology, China Aerospace Science and Industrial Corporation, Beijing 100070, China.
authors.forename: Zhiguang
authors.initials: Z
authors.lastname: Shi
keywords: Adaptive control; Deadzone; Gear transmission servo systems; Nonlinear control