Adaptive stabilization and command following using a Prandtl-Ishlinskii/NARMAX controller

Author

Al Janaideh, Mohammad ; Bernstein, D.S.

Author_Institution

Dept. of Mechatron. Eng., Univ. of Jordan, Amman, Jordan

fYear

2014

fDate

4-6 June 2014

Firstpage

20

Lastpage

25

Abstract

We investigate a NARMAX controller structure involving hysteretic nonlinearities. A weighted combination of backlash nonlinearities constitutes a Prandtl-Ishlinskii hysteresis model. The rationale for using a Prandtl-Ishlinskii NARMAX (PIN) controller is due to the fact that the describing function of a backlash nonlinearity has both gain and phase shift. By combining backlash nonlinearities into a NARMAX control law it is reasonable to expect that arbitrary gain and phase shift can be attained by adaptively updated controller coefficients.

Keywords

adaptive control; control nonlinearities; hysteresis; stability; NARMAX control law; Prandtl-Ishlinskii hysteresis model; Prandtl-Ishlinskii-NARMAX controller structure; adaptive stabilization; adaptively updated controller coefficients; arbitrary gain; backlash nonlinearities; command following; hysteretic nonlinearities; phase shift; weighted combination; Actuators; Adaptive control; Harmonic analysis; Hysteresis; Simulation; Vectors; Adaptive systems; Control applications;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2014

Conference_Location

Portland, OR

ISSN

0743-1619

Print_ISBN

978-1-4799-3272-6

Type

conf

DOI

10.1109/ACC.2014.6859024

Filename

6859024