Robust adaptive control of a class of nonlinear systems with inverse compensation of unknown asymmetrical backlash nonlinearity

Author

Gu, Guo-Ying ; Zhu, LiMin ; Feng, Ying ; Su, Chun-Yi

Author_Institution

State Key Lab. of Mech. Syst. & Vibration, Shanghai Jiao Tong Univ., Shanghai, China

fYear

2011

fDate

17-19 Sept. 2011

Firstpage

1

Lastpage

6

Abstract

This paper deals with the robust inverse compensation and control for a class of nonlinear systems with unknown asymmetric input backlash. With an analytical expression of the inverse compensation error, a corresponding controller is designed by using the robust adaptive control approach. The developed control law ensures global stability of the whole control system and achieves both stabilization and tracking with desired precision. Simulations performed on an unstable uncertain nonlinear system illustrate and clarify the approach.

Keywords

adaptive control; compensation; control system synthesis; nonlinear control systems; robust control; stability; uncertain systems; asymmetrical backlash nonlinearity; global stability; inverse compensation; robust adaptive control; stabilization; uncertain nonlinear system; Adaptive control; Intelligent systems; Inverse problems; Nonlinear systems; Robustness; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Cybernetics and Intelligent Systems (CIS), 2011 IEEE 5th International Conference on

Conference_Location

Qingdao

Print_ISBN

978-1-61284-199-1

Type

conf

DOI

10.1109/ICCIS.2011.6070292

Filename

6070292