L1 adaptive control of uncertain gear transmission servo systems with deadzone nonlinearity.
L1 adaptive control of uncertain gear transmission servo systems with deadzone nonlinearity.
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DOI：
10.1016/j.isatra.2015.07.009
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发表时间：
2015-09
期刊：
影响因子：
7.3
通讯作者：
Zongyu Zuo;Xiao Li;Zhiguang Shi
中科院分区：
文献类型：
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作者：
Zongyu Zuo;Xiao Li;Zhiguang Shi
本文研究了存在未知死区非线性和粘性摩擦的情况下齿轮传动伺服 (GTS) 系统的自适应控制问题。首先提出了基于新颖的可微分死区模型的全局微分同胚。由于存在匹配和不匹配的状态相关未知非线性，因此构造了全状态反馈L 1 自适应控制器以除了稳态性能之外还实现一致有界瞬态响应。最后，除了展示本文的主要结果之外，还包括模拟结果以显示极限环的消除。
This paper deals with the adaptive control problem of Gear Transmission Servo (GTS) systems in the presence of unknown deadzone nonlinearity and viscous friction. A global differential homeomorphism based on a novel differentiable deadzone model is proposed first. Since there exist both matched and unmatched state-dependent unknown nonlinearities, a full-state feedback L 1 adaptive controller is constructed to achieve uniformly bounded transient response in addition to steady-state performance. Finally, simulation results are included to show the elimination of limit cycles, in addition to demonstrating the main results in this paper.