Adaptive Control for Nonlinear Systems with Unknown Hysteresis via Inverse Dynamics

摘要：

In this paper, in order to design control scheme to mitigate the effects of unknown hysteresis, we propose a RBFN-based adaptive control scheme for nonlinear systems with a class of backlash-based unknown hysteresis nonlinearities. The control scheme adopts the idea of dynamic inversion and the concept of pseudo-control input. With Lyapuouv theory, through two robustifying control terms, the scheme ensures the dynamic system to be stable, all signals in system to be bounded and tracking error to converges to a neighborhood of zero. The effectiveness of the proposed control scheme is illustrated through simulation.

关键词： hysteresis nonlinear system RBFN adaptive control.

作者: Zhao Tong

作者单位: Department of Automatic Control, Qingdao University of Science and Technology, Qingdao, 266042,China

会议类型: 国际会议

会议名称: 2006 IEEE International Conference on Information Acquisition

会议地点: 山东威海

会议语种:英文

页码: 910-915

在线出版日期: 2006-08-20（万方平台首次上网日期，不代表论文的发表时间）