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
来源：
AUTOMATICA | 1993年 / 29卷 / 02期
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.
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页码：323 / 335
页数：13
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