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

—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...

• Type: Conference
• Year: 2009
• Where: CDC
• Authors: Jian Guo, Bin Yao, Qingwei Chen, Xiaobei Wu
• Keywords: Adaptive Robust Control, CDC 2009, Control Systems, Unknown Backlash, Unknown Input Backlash