Adaptive Control for Nonlinear System with Unknown Hysteresis

摘要：

An adaptive control and an adaptive robust control (ARC) algorithm were developed for a class of nonlinear system with unknown input backlash-like hysteresis. The existing robust adaptive control methods mainly focus on using various linearly parameterized models with on-line parameter adaptation for an approximate inversion of the unknown backlash-like nonlinearity. Due to the inherent dynamic nonlinear nature of the unknown backlash-like nonlinearity, existing robust adaptive control methods mainly focus on using approximate inversion by on-line parameter adaptation. Unlike many existing control schemes, the backlash-like hysteresis inverse wasn’t constructed in this paper. The proposed adaptive control law ensured asymptotic tracking stability of the closed-loop system. But the violent chatting limited its application in practice. The adaptive robust control ensured that all signals of the closed-loop system were bounded and the tracking within a desired precision. The theoretical analysis and simulation results show the validity of the proposed controllers.

关键词： Backlash-like hysteresis Adaptive control Robust control Nonlinear System

作者: Jian Guo Feng Wang Bin Yao

作者单位: School of Automation, Nanjing University of Science and Technology,Nanjing City, Jiangsu Province, C School of Mechanical Engineering,Purdue University, USA,West Lafayette, IN 47907

会议类型: 国际会议

会议名称: The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

会议地点: 太原

会议语种:英文

页码: 1067-1072

在线出版日期: 2012-05-23（万方平台首次上网日期，不代表论文的发表时间）