Adaptive control of system with unknown output backlash |
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Authors: | Tao G Kokotovic PV |
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Affiliation: | Dept. of Electr. Eng., Virginia Univ., Charlottesville, VA; |
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Abstract: | Adaptive control schemes for systems with unknown backlash at the plant output are developed. In the case of known backlash, a backlash inverse controller guarantees exact output tracking. When the backlash characteristics are unknown, adaptive laws are designed to update the controller parameters and to guarantee bounded input-output stability. Simulations show significant improvements of the system performance achieved by such adaptive backlash inverse controllers |
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