NDLI: High performance adaptive robust control for nonlinear system with unknown input backlash

Content Provider	IEEE Xplore Digital Library
Author	Jian Guo Bin Yao Qingwei Chen Xiaobei Wu
Copyright Year	2009
Description	Author affiliation: School of Automation, Nanjing University of Sci. and Tech., China (Jian Guo; Qingwei Chen; Xiaobei Wu) \|\| School of Mechanical Engineering at Purdue University, West Lafayette, IN 47907 USA (Bin Yao)
Abstract	A high performance adaptive robust control (ARC) algorithm is developed for a class of nonlinear system with unknown input backlash, parametric uncertainties and uncertain nonlinearities disturbances. Due to the inherent dynamic nonlinear nature of backlash, existing robust adaptive control methods mainly focus on using on-line parameter adaptation for an approximate inversion of the unknown backlash. As a result, even in the absence of other uncertain nonlinearities and disturbance, asymptotic output tracking can never be achieved by continuous controller for the non-smooth characteristics of backlash. Experimental results also show that a linear controller alone performed better than a controller including the selected backlash inverter with a correctly estimated or overestimated backlash gap. Unlike many existing control schemes, the backlash inverse is not constructed in this paper. A new linearly parameterized model for backlash is presented and the projection algorithm is used for parameters estimation. The proposed adaptive robust control law consists of three parts: model compensation term, the robust control term and robust feedback term. The ARC ensure that all closed-loop signals are bounded and achieves the tracking within the desired precision. Simulations results illustrate the performance of the ARC.
Starting Page	7675
Ending Page	7679
File Size	499651
Page Count	5
File Format	PDF
ISBN	9781424438716
ISSN	01912216
DOI	10.1109/CDC.2009.5399543
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-12-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Programmable control Adaptive control Robust control Nonlinear systems Uncertainty Nonlinear dynamical systems Control nonlinearities Inverters Projection algorithms Parameter estimation
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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