Robust adaptive control of a class of nonlinear systems with unknown backlash-like hysteresis

被引：502

作者：

Su, CY ^{[1
]}

Stepanenko, Y

Svoboda, J

Leung, TP

机构：

[1] Concordia Univ, Dept Mech Engn, Montreal, PQ H3G 1M8, Canada

[2] Univ Victoria, Dept Mech Engn, Victoria, BC V8W 3P6, Canada

[3] Hong Kong Polytech Univ, Kowloon, Hong Kong, Peoples R China

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2000年 / 45卷 / 12期

关键词：

adaptive control; cascade systems; hysteresis; nonlinear systems; robust control;

D O I：

10.1109/9.895588

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper deals with adaptive control of a class of nonlinear dynamic systems preceded by unknown backlash-like hysteresis nonlinearities, where the hysteresis is modeled by a differential equation. By exploiting solution properties of the differential equation and combining those properties with adaptive control techniques, a robust adaptive control algorithm is developed without constructing a hysteresis inverse. The new control law ensures global stability of the adaptive system and achieves both stabilization and tracking to within a desired precision. Simulations performed on a nonlinear system illustrate and clarify the approach.

引用

页码：2427 / 2432

页数：6

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