Adaptive Control of a Class of Uncertain Nonlinear Systems with Unknown Input Hysteresis
Based on backstepping technique,an adaptive inverse control scheme is proposed for a class of uncertain nonlinear systems preceded by unknown hysteretic nonlinearities which are described by Krasnoselskii-Pokrovkii (KP)model. The pseudo-inversion is introduced to compensate the hysteresis nonlinearities and the error caused by the hysteresis model and pseudo-inversion is estimated online by the adaptive controller. To avoid the possible chattering caused by the sign function,a smooth adaptive controller is designed.The proposed controller ensures the uniformly ultimate boundedness of the closed-loop system.Simulation results show the effectiveness of the proposed scheme.
Li Zhifu Yuan Peng Hu Yueming CHEN Tiemei
Engineering Research Center for Precision Electronic Manufacturing Equipments of Ministry of Educati Engineering Research Center for Precision Electronic Manufacturing Equipments of Ministry of Educati
国际会议
深圳
英文
141-146
2011-06-06（万方平台首次上网日期，不代表论文的发表时间）