Adaptive control of systems with backlash acting on the input

Author

Grundelius, Mattias ; Angeli, David

Author_Institution

Dept. of Autom. Control, Lund Inst. of Technol., Sweden

Volume

4

fYear

1996

fDate

11-13 Dec 1996

Firstpage

4689

Abstract

Two different adaptive controllers for systems with backlash acting on the input are discussed: one in continuous time and one in discrete time. Both schemes are based on a backlash inverse and a linear controller. The unknown plant parameters and the backlash width are estimated. The estimated parameters are used for pole placement design of the controller and for backlash compensation in the backlash inverse. Some analysis of the estimator convergence is done. Simulations of a second order plant show that both schemes give a nice behavior

Keywords

adaptive control; compensation; continuous time systems; discrete time systems; parameter estimation; pole assignment; adaptive control; backlash compensation; backlash inverse; continuous time systems; convergence; discrete time systems; parameter estimation; pole placement; second order plant; Adaptive control; Adaptive systems; Assembly systems; Automatic control; Control systems; Gears; Hydraulic systems; Parameter estimation; Programmable control; State feedback;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1996., Proceedings of the 35th IEEE Conference on

Conference_Location

Kobe

ISSN

0191-2216

Print_ISBN

0-7803-3590-2

Type

conf

DOI

10.1109/CDC.1996.577616

Filename

577616