The gain-scheduled variable-structure tracking control of nonlinear systems with dead-zones and norm-bounded uncertainties
含有不灵敏区非线性系统的增益调度自适应变结构控制

The tracking control for a class of nonlinear systems with unknown dead-zones and norm-bounded uncertainties is studied. To deal with structural and parametrical uncertainties, unknown disturbances and unknown dead-zones, we propose a new variable-structure controller based on the adaptive control method and the control approach of gainscheduling. The controller ensures the closed-loop system output to be ultimately asymptotically bounded. Simulation results confirm the satisfactory performance.