An adaptive robust control (ARC) algorithm is developed for a class of nonlinear dynamic system with unknown input backlash, parametric uncertainties and uncertain disturbances. Due to the non-smooth dynamic nonlinear nature of backlash, existing robust adaptive control methods mainly focus on using approximate inversion of backlash by on-line parameter adaptation. But experimental results show that a linear controller alone can perform better than a controller including the selected backlash inverter with a correctly estimated or overestimated backlash gap. Unlike many existing control schemes, the backlash inverse is not constructed in this paper. A new linearly parameterized model for backlash is presented. The backlash nonlinearity is linearly parameterized globally with bounded model error. The proposed adaptive robust control law ensure that all closed-loop signals are bounded and achieves the tracking within the desired precision. Simulations results illustrate the performance of the ARC.
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ASME 2009 Dynamic Systems and Control Conference
October 12–14, 2009
Hollywood, California, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4893-7
PROCEEDINGS PAPER
Adaptive Robust Control for a Class of Nonlinear Uncertain System With Unknown Input Backlash Available to Purchase
Jian Guo,
Jian Guo
Nanjing University of Science and Technology, Nanjing, Jiangsu, China
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Jun Jiang,
Jun Jiang
Nanjing University of Science and Technology, Nanjing, Jiangsu, China
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Qingwei Chen
Qingwei Chen
Nanjing University of Science and Technology, Nanjing, Jiangsu, China
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Jian Guo
Nanjing University of Science and Technology, Nanjing, Jiangsu, China
Bin Yao
Purdue University, West Lafayette, IN
Jun Jiang
Nanjing University of Science and Technology, Nanjing, Jiangsu, China
Qingwei Chen
Nanjing University of Science and Technology, Nanjing, Jiangsu, China
Paper No:
DSCC2009-2656, pp. 161-166; 6 pages
Published Online:
September 16, 2010
Citation
Guo, J, Yao, B, Jiang, J, & Chen, Q. "Adaptive Robust Control for a Class of Nonlinear Uncertain System With Unknown Input Backlash." Proceedings of the ASME 2009 Dynamic Systems and Control Conference. ASME 2009 Dynamic Systems and Control Conference, Volume 2. Hollywood, California, USA. October 12–14, 2009. pp. 161-166. ASME. https://doi.org/10.1115/DSCC2009-2656
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