Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 59, Issue 5, Pages 1336-1341Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2013.2289704
Keywords
Adaptive control; dead zone; hysteresis; nonlinear systems; tracking control
Funding
- National Natural Science Foundation of China [61374087, 61104007, 61104117, 61273091]
- Specialized Research Fund for the Doctoral Program of Higher Education [20113219110026]
- China Postdoctoral Science Foundation [2012M511465]
- Shandong Postdoctoral Science Foundation [201203031]
- Foundation of Key Laboratory of System Control and Information Processing, Ministry of Education, China
- Zijin Intelligent Program of Nanjing University of Science and Technology [2013-ZJ-0104]
- 333 Project [BRA2011143]
- Qing Lan Project
- Taishan Scholarship Project of Shandong Province
- Program for Scientific Research Innovation Team in Colleges and Universities of Shandong Province, China
Ask authors/readers for more resources
This technical note is concerned with the problem of adaptive tracking control for a class of nonlinear systems with parametric uncertainty, unknown actuator nonlinearity and bounded external disturbance. Two type of actuator nonlinearities, that is, symmetric dead-zone and Bouc-Wen hysteresis, are considered, respectively. First, an adaptive control scheme with positive integrable time-varying function is presented to compensate for the dead-zone nonlinearity. Then, the actuator nonlinearity under consideration is modeled as Bouc-Wen hysteresis, and desired compensation controller is designed based on the backstepping technique and Nussbaum gain approach. In both of the two schemes, the asymptotic tracking is guaranteed with the tracking error converging to zero. Finally, an illustrative example is provided to show the effectiveness of the proposed design methods.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available