Title :
Robust adaptive control of time-varying systems with unknown backlash nonlinearity
Author :
Han, Cun Wu ; Zhong, Yi Xin
Author_Institution :
Dept. of Inf. Eng., Beijing Univ. of Posts & Telecommun., China
Abstract :
This paper presents a robust adaptive controller for time-varying systems with an unknown backlash nonlinearity at the plant input. The controller is designed based on the pole assignment strategy, and it is applicable even to systems in the presence of unmodeled dynamics, bounded external disturbances, and time-varying parameters. No minimum phase assumption and no persistence of excitation requirement are needed. The global stability is ensured by the proposed controller
Keywords :
adaptive control; control nonlinearities; dynamics; nonlinear systems; pole assignment; robust control; time-varying systems; adaptive control; backlash nonlinearity; bounded external disturbances; global stability; nonlinear systems; pole assignment; robust control; time-varying systems; unmodeled dynamics; Adaptive control; Control systems; Convergence; Nonlinear control systems; Nonlinear systems; Programmable control; Robust control; Stability; Telecommunication control; Time varying systems;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.611905
