ADAPTIVE-CONTROL OF SYSTEMS WITH UNKNOWN OUTPUT BACKLASH

Authors
TAO G KOKOTOVIC PV
Citation
G. Tao et Pv. Kokotovic, ADAPTIVE-CONTROL OF SYSTEMS WITH UNKNOWN OUTPUT BACKLASH, IEEE transactions on automatic control, 40(2), 1995, pp. 326-330
Citations number
6
Categorie Soggetti
Controlo Theory & Cybernetics","Robotics & Automatic Control","Engineering, Eletrical & Electronic
Journal title
IEEE transactions on automatic control → ACNP
ISSN journal
00189286
Volume
40
Issue
2
Year of publication
1995
Pages
326 - 330
Database
ISI
SICI code
0018-9286(1995)40:2<326:AOSWUO>2.0.ZU;2-#
Abstract
Adaptive control schemes for systems with unknown backlash at the plan t output are developed. In the case of known backlash, a backlash inve rse controller guarantees exact output tracking. When the backlash cha racteristics are unknown, adaptive laws are designed to update the con troller parameters and to guarantee bounded input-output stability. Si mulations show significant improvements of the system performance achi eved by such adaptive backlash inverse controllers.