ADAPTIVE-CONTROL OF SYSTEMS WITH BACKLASH

被引:127
作者
TAO, G
KOKOTOVIC, PV
机构
[1] Department of Electrical and Computer Engineering, University of California, Santa Barbara
关键词
ADAPTIVE BACKLASH INVERSE; ADAPTIVE CONTROL; BACKLASH; CONTROL SYSTEM DESIGN; NONLINEAR SYSTEMS; PARAMETER ESTIMATION; STABILITY;
D O I
10.1016/0005-1098(93)90126-E
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
We develop a mathematical model of backlash inverse and give a parametrization of the error caused by its estimate. We then design an adaptive backlash inverse controller for unknown plants with backlash and prove the global boundedness of the closed-loop signals. Simulations show major improvements of system performance.
引用
收藏
页码:323 / 335
页数:13
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