期刊
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 49, 期 10, 页码 1751-1757出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/tac.2004.835398
关键词
adaptive control; backstepping; hysteresis; nonlinear system; robust control
In this note, we consider the same class of systems as in a previous paper, i.e., a class of uncertain dynamic nonlinear systems preceded by unknown backlash-like hysteresis nonlinearities, where the hysteresis is modeled by a differential equation, in the presence of bounded external disturbances. By using backstepping technique, robust adaptive backstepping control algorithms are developed. Unlike some existing control schemes for systems with hysteresis, the developed backstepping controllers do not require the uncertain parameters within known intervals. Also, no knowledge is assumed on the bound of the disturbance-like term, a combination of the external disturbances and a term separated from the hysteresis model. It is shown that the proposed controllers not only can guarantee global stability, but also transient performance.
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