期刊
NONLINEAR DYNAMICS
卷 88, 期 3, 页码 2161-2170出版社
SPRINGER
DOI: 10.1007/s11071-017-3369-5
关键词
Estimation of nonlinearity; Compensation of nonlinearity; Globally uniformly ultimately bounded (GUUB); Unknown input nonlinearity; Equivalent input disturbance (EID); Dead zone; Backlash
资金
- National Natural Science Foundation of China [61473313, 61210011]
- Hubei Provincial Natural Science Foundation of China [2015CFA010]
- 111 Project of China [B17040]
Nonlinearities greatly affect the control performance of a system. A new estimation and compensation method for unknown input dead zone and backlash has been developed based on the equivalent-input-disturbance (EID) approach. Unlike other methods, it requires neither any information on the nonlinearities nor an inverse model of them. The key idea is that input nonlinearities are taken to be an input-dependent disturbance. An EID estimator is designed that produces an estimate with the same effect on the output as that of the input nonlinearities. The estimate is then used to compensate for the nonlinearities. Simulation results demonstrate the validity of the method.
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