Adaptive output control of uncertain nonlinear systems with unknown backlash

被引：0

作者：

Zhou, Jing ^{[1
]}

Wen, Changyun ^{[1
]}

Zhang, Chengjin ^{[1
]}

Shen, Xiaozhong ^{[1
]}

机构：

[1] Norwegian Univ Sci & Technol, Fac Informat Technol Math & Elect Engn, N-7491 Trondheim, Norway

来源：

2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13 | 2007年

关键词：

adaptive control; backstepping; backlash; nonlinear systems; stability;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we consider a class of uncertain dynamic nonlinear systems preceded by unknown backlash nonlinearity. The control design is achieved by introducing a smooth inverse function of the backlash and using it in the controller design with backstepping technique. For the design and implementation of the controller, no knowledge is assumed on the unknown system parameters. It is shown that the proposed controller not only can guarantee stability, but also transient performance.

引用

页码：1046 / 1051

页数：6

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