Title :
Adaptive Output Control of Uncertain Nonlinear Systems with Unknown Backlash
Author :
Zhou, Jing ; Wen, Changyun ; Zhang, Chengjin ; Shen, Xiaozhong
Abstract :
In this paper, we consider a class of uncertain dynamic nonlinear systems preceded by unknown backlash nonlinearity. The control design is achieved by introducing a smooth inverse function of the backlash and using it in the controller design with backstepping technique. For the design and implementation of the controller, no knowledge is assumed on the unknown system parameters. It is shown that the proposed controller not only can guarantee stability, but also transient performance.
Keywords :
adaptive control; control nonlinearities; control system synthesis; nonlinear control systems; uncertain systems; adaptive output control; backstepping technique; control design; smooth inverse function; uncertain dynamic systems; uncertain nonlinear systems; unknown backlash nonlinearity; Actuators; Adaptive control; Backstepping; Circuit stability; Control systems; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Programmable control; State estimation; Adaptive control; backlash; backstepping; nonlinear systems; stability;
Conference_Titel :
American Control Conference, 2007. ACC '07
Conference_Location :
New York, NY
Print_ISBN :
1-4244-0988-8
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2007.4282311