An adaptive inverse compensation scheme for signal-dependent actuator nonlinearities

In this paper, a unified adaptive compensation scheme for controlling signal-dependent actuator nonlinearities in a class of nonlinear system is presented. Approximation of a nonlinearly parametrized actuator model by a linearly parametrized function is performed. Adaptive inversion of actuator nonlinearities for the linearly approximated model is performed by adopting another approximator in the feedforward path. A nonlinear state feedback control law is designed for controlling the nonlinear dynamics. Parameter projection based adaptive laws are used to ensure desired closed-loop stability.