| 具有输入齿隙的一类非线性系统自适应控制 |
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| 引用本文： | 郭健,吴益飞,陈庆伟,姚斌.具有输入齿隙的一类非线性系统自适应控制[J].兵工学报,2011,32(10):1298-1304. |
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| 作者姓名： | 郭健 吴益飞 陈庆伟 姚斌 |
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| 作者单位： | (1.南京理工大学 自动化学院, 江苏 南京 210094; 2.普渡大学 机械工程学院, 美国西拉法叶 IN47907) |
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| 基金项目： | 国家自然科学基金项目(61074023); 江苏省科技支撑计划项目(BE2009160) |
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| 摘 要： | 针对具有输入齿隙的一类非线性系统,设计了两种自适应控制器.将具有动态、非平滑特性的齿隙非线性模型线性化,等价为具有有界建模误差的全局线性化模型.针对具有未知输入齿隙、参数不确定以及未建模动态和扰动的情况,分别设计了一种自适应控制器和自适应鲁棒控制器.前者能实现闭环控制系统渐近跟踪稳定,但存在剧烈抖振而无法进行实际应用；...
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| 关 键 词： | 自动控制技术 齿隙 非线性系统 鲁棒控制 自适应控制 |
Adaptive Control of a Nonlinear System with Input Backlash |
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| GUO Jian,WU Yi-fei,CHEN Qing-wei,YAO Bin.Adaptive Control of a Nonlinear System with Input Backlash[J].Acta Armamentarii,2011,32(10):1298-1304. |
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| Authors: | GUO Jian WU Yi-fei CHEN Qing-wei YAO Bin |
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| Affiliation: | (1.School of Automation, Nanjing University of Science and technology, Nanjing 210094，Jiangsu, China;2.School of Mechanical Engineering, Purdue University, West Lafayette IN47907, USA) |
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| Abstract: | Two kinds of adaptive controllers were developed for a class of nonlinear system with input backlash.For the inherent non-smooth and dynamic nonlinear nature of the unknown backlash,it is linearly parameterized globally with bounded modeling error.An adaptive controller and an adaptive robust controller for nonlinear system were designed in the case of unknown input backlash,parameter uncertainty and external disturbances.The proposed adaptive control law ensures the asymptotic tracking stability of closed-... |
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| Keywords: | automatic control technology backlash nonlinear system robust control adaptive control |
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