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

被引：493
|
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
收藏
页码：2427 / 2432
页数：6
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