Adaptive Backstepping Control of Electrical Transmission Drives with Elastic, Unknown Backlash and Coulomb Friction Nonlinearity
| Main Authors: | Đông, Huỳnh Văn, Kiên, Trần Xuân, Định, Nguyễn Công |
|---|---|
| Format: | Article info application/pdf Journal |
| Bahasa: | eng |
| Terbitan: |
Universitas Gadjah Mada
, 2017
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| Subjects: | |
| Online Access: |
http://ajstd.org/index.php/ajstd/article/view/305 http://ajstd.org/index.php/ajstd/article/view/305/300 |
Daftar Isi:
- 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.