Adaptive Control of Nonsmooth Dynamic Systems

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A complete reference to adaptive control of systems with nonsmooth nonlinearities such as: • backlash, • dead-zones, • component failure, • friction, • hysteresis, • saturation, • time delays. These nonlinearities in industrial actuators cause severe problems in the motion control of industrial processes, particularly in view of modern requirements for speed and precision of movement, such as occur in semiconductor manufacturing, precision machining and elsewhere. Actuator nonlinearities are ubiquitous in engineering practice and limit control system performance. While standard feedback control alone cannot handle these nonsmooth nonlinearities effectively, this book, with unified and systematic adaptive design methods developed in 16 chapters, shows how such nonlinear characteristics can be effectively compensated for by using adaptive and intelligent control techniques. This allows desired system performance to be achieved in the presence of uncertain nonlinearities. With extensive surveys of literature and comprehensive summaries of various design methods the authors of the book chapters, who are experts in their areas of interest, present new solutions to some important issues in adaptive control of systems with various sorts of nonsmooth nonlinearities. In addition to providing solutions, the book is also aimed at motivating more research activities in the important field of adaptive control of nonsmooth nonlinear industrial systems by formulating several challenging open problems in related areas.