An adaptive robust control
algorithm is developed for a class of nonlinear dynamic system with
unknown input backlash, parametric uncertainties, un-modeled dynamics and uncertain
disturbances. A globally linearly parameterized model with
bounded modelling error for backlash is presented. The adaptive
robust controller is designed, which is composed of model
compensation, feedback stabilization and robust feedback terms. The
transient dynamic error and steady state error performance are
given. The proposed adaptive robust control law can ensure that all
closed-loop signals are bounded and achieve the tracking within the
desired precision. Simulations results show the effectiveness of
the controller.