Title :
On the control algorithm of nonlinear systems with backlash
Author :
Guochun Sun ; Ce Ding
Author_Institution :
Dept. of Comput., Air Force Aviation Univ., Changchun, China
Abstract :
This paper analyzes the ball and plate system servo control links hysteresis characteristics, inverse model compensation hysteresis nonlinear servo control part. To overcome the disadvantages of external interference or other factors cause the inverse model parameters, and hysteresis of the nonlinear model parameters do not match, designing the gradient projection adaptive law online up-date inverse model parameters. Simulation and experimental results show that the designed compensation control algorithm weakened the hysteresis nonlinearity for servo control to improve the control accuracy of ball and plate system.
Keywords :
adaptive control; compensation; control nonlinearities; control system synthesis; gears; hysteresis; inverse problems; nonlinear control systems; servomechanisms; stepping motors; backlash; ball-and-plate system servo control; compensation control algorithm design; control accuracy improvement; external interference; gradient projection adaptive law online up-date inverse model parameter design; inverse model compensation hysteresis nonlinear servo control; inverse model parameters; nonlinear model parameter hysteresis; nonlinear system control algorithm; Adaptation models; Adaptive systems; Algorithm design and analysis; Hysteresis; Mathematical model; Servosystems;
Conference_Titel :
Intelligent Control and Information Processing (ICICIP), 2013 Fourth International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4673-6248-1
DOI :
10.1109/ICICIP.2013.6568119
