scholarly journals Adaptive Backstepping Control of Electrical Transmission Drives with Elastic, Unknown Backlash and Coulomb Friction Nonlinearity

2017 ◽  
Vol 26 (1) ◽  
Author(s):  
Huỳnh Văn Đông ◽  
Trần Xuân Kiên ◽  
Nguyễn Công Định
Keyword(s):  
Nonlinear Systems ◽  
Coulomb Friction ◽  
Control Design ◽  
Adaptive Controller ◽  
Uncertain Nonlinear Systems ◽  
Backstepping Technique ◽  
Adaptive Backstepping ◽  
Electrical Transmission ◽  
Adaptive Backstepping Control ◽  
Asymptotic Stable

In this paper, we present a new scheme to design an adaptive controller for uncertain nonlinear systems with unknown backlash, Coulomb friction nonlinearity. The control design is achieved by introducing a smooth approximate backlash model and certain well defined functions and by using backstepping technique. Itis shown that the proposed controller can guarantee that the system is global asymptotic stable.

scholarly journals Adaptive Backstepping Control of Electrical Transmission Drives with Elastic, Unknown Backlash and Coulomb Friction Nonlinearity

2017 ◽  
Vol 26 (1) ◽  
Author(s):  
Huỳnh Văn Đông ◽  
Trần Xuân Kiên ◽  
Nguyễn Công Định
Keyword(s):  
Nonlinear Systems ◽  
Coulomb Friction ◽  
Control Design ◽  
Adaptive Controller ◽  
Uncertain Nonlinear Systems ◽  
Backstepping Technique ◽  
Adaptive Backstepping ◽  
Electrical Transmission ◽  
Adaptive Backstepping Control ◽  
Asymptotic Stable

In this paper, we present a new scheme to design an adaptive controller for uncertain nonlinear systems with unknown backlash, Coulomb friction nonlinearity. The control design is achieved by introducing a smooth approximate backlash model and certain well defined functions and by using backstepping technique. It is shown that the proposed controller can guarantee that the system is global asymptotic stable.

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