ADAPTIVE-CONTROL OF SYSTEMS WITH UNKNOWN OUTPUT BACKLASH

被引：94

作者：

TAO, G ^{[1
]}

KOKOTOVIC, PV ^{[1
]}

机构：

[1] UNIV CALIF SANTA BARBARA,DEPT ELECT & COMP ENGN,SANTA BARBARA,CA 93106

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1995年 / 40卷 / 02期

关键词：

D O I：

10.1109/9.341803

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Adaptive control schemes for systems with unknown backlash at the plant output are developed. In the case of known backlash, a backlash inverse controller guarantees exact output tracking. When the backlash characteristics are unknown, adaptive laws are designed to update the controller parameters and to guarantee bounded input-output stability. Simulations show significant improvements of the system performance achieved by such adaptive backlash inverse controllers.

引用

页码：326 / 330

页数：5