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

2009 ◽  
Author(s):  
Jian Guo ◽  
Bin Yao ◽  
Qingwei Chen ◽  
Xiaobei Wu
Keyword(s):  
Robust Control ◽  
Nonlinear System ◽  
High Performance ◽  
Adaptive Robust Control ◽  
Unknown Input

Adaptive Robust Control for a Class of Nonlinear Uncertain System With Unknown Input Backlash

2009 ◽  
Author(s):  
Jian Guo ◽  
Bin Yao ◽  
Jun Jiang ◽  
Qingwei Chen
Keyword(s):  
Robust Control ◽  
Nonlinear Dynamic System ◽  
Uncertain System ◽  
Robust Adaptive Control ◽  
Adaptive Robust Control ◽  
Unknown Input ◽  
Uncertain Disturbances ◽  
On Line ◽  
Parameterized Model ◽  
Robust Adaptive

An adaptive robust control (ARC) algorithm is developed for a class of nonlinear dynamic system with unknown input backlash, parametric uncertainties and uncertain disturbances. Due to the non-smooth dynamic nonlinear nature of backlash, existing robust adaptive control methods mainly focus on using approximate inversion of backlash by on-line parameter adaptation. But experimental results show that a linear controller alone can perform 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. The backlash nonlinearity is linearly parameterized globally with bounded model error. The proposed adaptive robust control law ensure that all closed-loop signals are bounded and achieves the tracking within the desired precision. Simulations results illustrate the performance of the ARC.

Adaptive Robust Control for Hydraulic Actuators With Disturbance Estimation

2015 ◽  
Author(s):  
Z. B. Xu ◽  
J. Y. Yao ◽  
Z. L. Dong ◽  
Y. Zheng
Keyword(s):  
Robust Control ◽  
Finite Time ◽  
Disturbance Observer ◽  
High Performance ◽  
Adaptive Robust Control ◽  
Parametric Uncertainties ◽  
Tracking Accuracy ◽  
Robust Controller ◽  
Hydraulic Actuators ◽  
Disturbance Estimation

In this paper, an adaptive robust control for hydraulic actuators with disturbance estimation is proposed for a hydraulic system with mismatched generalized uncertainties (e.g., parameter derivations, external disturbances, and/or unmodeled dynamics), in which a finite time disturbance observer and an adaptive robust controller are synthesized via backstepping method. The finite time disturbance observer is designed to estimate the mismatched generalized uncertainties. The adaptive robust controller is designed to handle parametric uncertainties and stabilize the closed loop system. The proposed controller accounts for not only the parametric uncertainties, but also the mismatched generalized uncertainties. Furthermore, the controller theoretically guarantees a prescribed tracking transient performance and final tracking accuracy while achieving asymptotic tracking performance after a finite time T0, which is very important for high accuracy tracking control of hydraulic servo systems. Simulation results are obtained to verify the high performance nature of the proposed control strategy.

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