Adaptive robust control for a class of nonlinear uncertain system with input backlash

作者：Guo Jian^*; Yao Bin; Wu Yi Fei; Chen Qing Wei

来源：Control and Decision, 2010, 25(10): 1580-1584.

• Adaptive Control
• Adaptive robust control
• Adaptive robust controllers
• Backlash
• Closed-loop signals
• Feedback stabilization
• Model compensation
• Modelling error
• Non-linear dynamic systems
• Nonlinear uncertain systems
• Parameterized model
• Parametric uncertainties
• Steady state errors
• Transient dynamics
• Unknown inputs

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.

• 出版日期2010
• 单位南京理工大学