Adaptive control of system with unknown output backlash
Adaptive control of system with unknown output backlash
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DOI：
10.1109/9.341803
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发表时间：
1995-02
期刊：
影响因子：
--
通讯作者：
G. Tao;P. Kokotovic
中科院分区：
文献类型：
--
作者：
G. Tao;P. Kokotovic
针对输出具有未知间隙的系统，提出了一种自适应控制方案。在已知齿隙的情况下，齿隙逆控制器保证精确的输出跟踪。当间隙特性未知时，设计自适应律来更新控制器参数并保证输入输出有界稳定。仿真结果表明，这种自适应间隙逆控制器显著改善了系统的性能。>；
Adaptive control schemes for systems with unknown backlash at the plant output are developed. In the case of known backlash, a backlash inverse controller guarantees exact output tracking. When the backlash characteristics are unknown, adaptive laws are designed to update the controller parameters and to guarantee bounded input-output stability. Simulations show significant improvements of the system performance achieved by such adaptive backlash inverse controllers. >