Estimation of and compensation for unknown input nonlinearities using equivalent-input-disturbance approach

被引：29

作者：

Ouyang, Liyu ^{[1
]}

Wu, Min ^{[2
]}

She, Jinhua ^{[2
,3
]}

机构：

[1] Cent S Univ, Sch Informat Sci & Engn, Changsha 410083, Hunan, Peoples R China

[2] China Univ Geosci, Sch Automat, Hubei Key Lab Adv Control & Intelligent Automat C, Wuhan 430074, Hubei, Peoples R China

[3] Tokyo Univ Technol, Sch Engn, Hachioji, Tokyo 1920982, Japan

来源：

NONLINEAR DYNAMICS | 2017年 / 88卷 / 03期

基金：

中国国家自然科学基金;

关键词：

Estimation of nonlinearity; Compensation of nonlinearity; Globally uniformly ultimately bounded (GUUB); Unknown input nonlinearity; Equivalent input disturbance (EID); Dead zone; Backlash; ADAPTIVE-CONTROL; TRACKING CONTROL; DEAD-ZONES; SYSTEMS; OUTPUT; BACKLASH; HYSTERESIS; REJECTION; PLANTS;

D O I：

10.1007/s11071-017-3369-5

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Nonlinearities greatly affect the control performance of a system. A new estimation and compensation method for unknown input dead zone and backlash has been developed based on the equivalent-input-disturbance (EID) approach. Unlike other methods, it requires neither any information on the nonlinearities nor an inverse model of them. The key idea is that input nonlinearities are taken to be an input-dependent disturbance. An EID estimator is designed that produces an estimate with the same effect on the output as that of the input nonlinearities. The estimate is then used to compensate for the nonlinearities. Simulation results demonstrate the validity of the method.

引用

页码：2161 / 2170

页数：10

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