Adaptive control for a class of nonlinear systems and application to hard disk drives

作者：Liu Lei; Li Dong Juan; Liu Yan Jun^*

来源：Journal of Vibration and Control, 2014, 20(1): 153-160.

DOI：10.1177/1077546312463755

• Adaptive control
• backstepping technique
• backlash-type hysteresis
• hard disk drives
• uncertain nonlinear systems

In this paper, an adaptive controller is investigated for a class of uncertain single-input-single-output nonlinear systems preceded by an unknown backlash-type hysteresis nonlinearity, which is modeled by a differential equation. Backstepping design procedure is employed to construct the control input and adaptation laws. A new algorithm is designed to reduce the computational burden compared with previous work for unknown backlash-type hysteresis. Based on Lyapunov stability theory, all the signals in the closed-loop system are bounded, and the system output can track the reference signal to a bounded compact set. An example for hard disk drives with hysteresis friction nonlinearity is given to verify the feasibility of the proposed approach.

• 出版日期2014-1
• 单位辽宁工业大学