Adaptive control of a nonlinear system with input backlash

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

来源：Acta Armamentarii, 2011, 32(10): 1298-1304.

• Adaptive Control
• Adaptive control law
• Adaptive controllers
• Adaptive robust control
• Adaptive robust controllers
• Analysis and simulation
• Asymptotic tracking
• Automatic control technology
• Backlash
• External disturbances
• Modeling errors
• Non-smooth
• Nonlinear nature
• Parameter uncertainty
• Parameterized
• Tracking errors
• Unknown inputs

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.

• 出版日期2011
• 单位南京理工大学