中文摘要：

针对具有输入齿隙的一类非线性系统，设计了两种自适应控制器。将具有动态、非平滑特性的齿隙非线性模型线性化，等价为具有有界建模误差的全局线性化模型。针对具有未知输入齿隙、参数不确定以及未建模动态和扰动的情况，分别设计了一种自适应控制器和自适应鲁棒控制器。前者能实现闭环控制系统渐近跟踪稳定，但存在剧烈抖振而无法进行实际应用；后者能够实现闭环控制系统信号有界且跟踪误差在任意期望的精度内，便于工程实现。理论分析和仿真结果验证了文中所提算法的有效性。

英文摘要：

Two kinds of adaptive controllers were developed for a class of nonlinear system with input backlash. For the inherent non-smooth and dynamic nonlinear nature of the unknown backlash, it is linearly parameterized globally with bounded modeling error. An adaptive controller and an adaptive robust controller for nonlinear system were designed in the case of unknown input backlash, parameter uncertainty and external disturbances. The proposed adaptive control law ensures the asymptotic tracking stability of closed-loop system. But the violent chatting limits its application in practice. The adaptive robust control ensures that all signals of the closed-loop system are bounded and the tracking error is kept in a desired precision. The theoretical analysis and simulation results show the validity of the proposed controllers.