Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 52, Issue 3, Pages 503-509Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2006.890473
Keywords
adaptive control; backstepping; backlash; nonlinear systems; stability
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In this note, we consider a class of uncertain dynamic nonlinear systems preceded by unknown backlash nonlinearity. The control design is achieved by introducing a smooth inverse function of the backlash and using it in the controller design with backstepping technique. For the design and implementation of the controller, no knowledge is assumed on the unknown system parameters. It is shown that the proposed controller not only can guarantee stability, but also transient performance.
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