ADAPTIVE-CONTROL OF SYSTEMS WITH BACKLASH

被引：127

作者：

TAO, G

KOKOTOVIC, PV

机构：

[1] Department of Electrical and Computer Engineering, University of California, Santa Barbara

来源：

AUTOMATICA | 1993年 / 29卷 / 02期

关键词：

ADAPTIVE BACKLASH INVERSE; ADAPTIVE CONTROL; BACKLASH; CONTROL SYSTEM DESIGN; NONLINEAR SYSTEMS; PARAMETER ESTIMATION; STABILITY;

D O I：

10.1016/0005-1098(93)90126-E

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We develop a mathematical model of backlash inverse and give a parametrization of the error caused by its estimate. We then design an adaptive backlash inverse controller for unknown plants with backlash and prove the global boundedness of the closed-loop signals. Simulations show major improvements of system performance.

引用

页码：323 / 335

页数：13

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