Title :
Adaptive control of a class of nonlinear systems preceded by an unknown backlash-like hysteresis
Author :
Su, Chun-Yi ; Tan, Yonghong ; Stepanenko, Y.
Author_Institution :
Dept. of Mech. Eng., Concordia Univ., Montreal, Que., Canada
Abstract :
This paper deals with adaptive control of a class of nonlinear dynamic systems preceded by unknown backlash-like hysteresis nonlinearities, where the hysteresis is modeled by a differential equation. By exploiting solution properties of the differential equation and combining those properties with adaptive control techniques, a robust adaptive control algorithm is developed without constructing a hysteresis inverse. The new control law ensures global stability of the adaptive system and achieves both stabilization and tracking to within a desired precision. Simulations performed on a nonlinear system illustrate and clarify the approach
Keywords :
adaptive control; differential equations; hysteresis; nonlinear control systems; nonlinear dynamical systems; uncertain systems; DE; adaptive control techniques; differential equation; global stability; hysteresis inverse; nonlinear dynamic systems; robust adaptive control algorithm; stabilization; tracking; unknown backlash-like hysteresis nonlinearities; Adaptive control; Adaptive systems; Control system synthesis; Control systems; Differential equations; Hysteresis; Mechanical engineering; Nonlinear control systems; Nonlinear systems; Stability;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.912064
