中文摘要：

针对类反斜线回滞非线性系统，设计了自适应控制器，保持系统稳定并实现对参考信号的任意精度跟踪．在控制器设计中，通过构造足够光滑的非线性函数作为符号函数的逼近，从而解决了传统自适应控制器设计中由于符号函数的引入而导致控制器不连续的问题，避免了因此而产生的抖震现象．在系统模型中充分考虑未建模动态，使模型更具一般性．最后应用MATLAB软件进行仿真实验，结果进一步验证了该控制器的有效性．

英文摘要：

A class of nonlinear systems with backlash-like input is considered. With the control law given in this note, the stability of closed-loop System and the output tracking performance can be guaranteed. Compared with traditional adaptive technology, a continuous controller is proposed by using a series of smooth functions to approach sign function and then possible chattering is avoided. Furthermore, unknown molding error is considered in system. Simulation studies confirm our results finally.