DocumentCode :
3161240
Title :
Adaptive Output Control of Uncertain Nonlinear Systems with Unknown Backlash
Author :
Zhou, Jing ; Wen, Changyun ; Zhang, Chengjin ; Shen, Xiaozhong
fYear :
2007
fDate :
9-13 July 2007
Firstpage :
498
Lastpage :
503
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;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 2007. ACC '07
Conference_Location :
New York, NY
ISSN :
0743-1619
Print_ISBN :
1-4244-0988-8
Electronic_ISBN :
0743-1619
Type :
conf
DOI :
10.1109/ACC.2007.4282311
Filename :
4282311
Link To Document :
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