A high performance adaptive robust control(ARC)algorithm is developed for a class of nonlinear system with unknown input backlash,parametric uncertainties and uncertain nonlinearities *** to the inherent dynamic nonli...
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A high performance adaptive robust control(ARC)algorithm is developed for a class of nonlinear system with unknown input backlash,parametric uncertainties and uncertain nonlinearities *** to the inherent dynamic nonlinear nature of backlash,existing robust adaptive control methods mainly focus on using on-line parameter adaptation for an approximate inversion of the unknown *** a result,even in the absence of other uncertain nonlinearities and disturbance,asymptotic output tracking can never be achieved by continuous controller for the non-smooth characteristics of *** results also show that a linear controller alone performed better than a controller including the selected backlash inverter with a correctly estimated or overestimated backlash *** many existing control schemes,the backlash inverse is not constructed in this paper.A new linearly parameterized model for backlash is presented and the projection algorithm is used for parameters *** proposed adaptive robust control law consists of three parts:model compensation term,the robust control term and robust feedback *** ARC ensure that all closed-loop signals are bounded and achieves the tracking within the desired *** results illustrate the performance of the ARC.
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