Abstract
In this paper, we consider a class of uncertain dynamic systems with unknown input nonlinearities. It is assumed that the input nonlinearities can be divided into unknown parameters part and bounded disturbance part. A robust adaptive control method which based on notion of H∞ optimality is shown. As a result, proposed control strategy does not include the discontinuous function, therefore, it can overcome the problems that the discontinuous function may cause a high-frequency fluctuation or a chattering phenomena. For the practical applications, projection algorithms method is also applied to the proposed strategy. Experimental results are shown to illustrate the effectiveness of our proposed method.
