Adaptive compensation for actuator imperfections

Author

Tao, Gang

Author_Institution

Dept. of Electr. Eng., Virginia Univ., Charlottesville, VA, USA

Volume

6

fYear

1997

fDate

4-6 Jun 1997

Firstpage

3788

Abstract

A general adaptive inverse scheme is developed for control of systems with actuator imperfections caused by unknown nonsmooth nonlinearities such as dead-zone, backlash and other piecewise-linearities at the input of a linear dynamics. The proposed controller structure consists of an adaptive inverse for cancelling the effect of an unknown nonlinearity and a linear feedback design such as model reference, PID, or pole placement for the linear dynamics. An adaptive law is developed to update the inverse parameters for improved tracking performance despite the presence of actuator imperfections

Keywords

actuators; adaptive control; closed loop systems; compensation; control nonlinearities; control system synthesis; dynamics; feedback; pole assignment; stability; three-term control; PID control; actuator imperfections; adaptive compensation; adaptive inverse; backlash; dead-zone; general adaptive inverse scheme; inverse parameters; linear dynamics; linear feedback; model reference; piecewise-linearities; pole placement; tracking performance; unknown nonsmooth nonlinearities; Adaptive control; Control nonlinearities; Error correction; Hydraulic actuators; Hysteresis; Linear feedback control systems; Nonlinear control systems; Output feedback; Programmable control; State feedback;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1997. Proceedings of the 1997

Conference_Location

Albuquerque, NM

ISSN

0743-1619

Print_ISBN

0-7803-3832-4

Type

conf

DOI

10.1109/ACC.1997.609555

Filename

609555