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Adaptive control of systems with backlash

✍ Scribed by Gang Tao; Petar V. Kokotovic

Publisher
Elsevier Science
Year
1993
Tongue
English
Weight
868 KB
Volume
29
Category
Article
ISSN
0005-1098

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✦ Synopsis

Al~lraet--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.

We consider a plant with a linear part G(D) and a backlash nonlinearity B(.) at its input:

where. D is used to denote, as the case may be, *

πŸ“œ SIMILAR VOLUMES

Chaotic vibration of mechanical systems
Chaotic vibration of mechanical systems with backlash
✍ R.M. Lin; D.J. Ewins πŸ“‚ Article πŸ“… 1993 πŸ› Elsevier Science 🌐 English βš– 488 KB

Detailed numerical and experimental studies are presented on the chaotic dynamic behaviour of non-linear mechanical systems with backlash. Such systems arise in engineering structures in which components make intermittent contact due to the existence of clearances. Chaotic vibration behaviour of the