Reference : Robust Adaptive Controller and Observer Design for a Class of Nonlinear Systems with ...
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Electrical & electronics engineering
http://hdl.handle.net/10993/12640
Robust Adaptive Controller and Observer Design for a Class of Nonlinear Systems with Unknown Backlash-Like Hysteresis
English
Jasim, Ibrahim mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
Nov-2011
2011 IEEE International Conference on Control System, Computing and Engineering
Yes
No
International
2011 IEEE International Conference on Control System, Computing and Engineering
25-11-2011 to 27-11-2011
IEEE
[en] Adaptive Robust Control ; Backlash ; Nonlinear Systems
[en] This paper presents a controller and observer design for a class of nonlinear systems that have: i. the coupling of the unmeasured states and unknown parameters ii. unknown Backlash- Like Hysteresis (BLH) at its actuation. Firstly, we use a developed mathematical model of the BLH in which the BLH is cast into two terms; a linear term and a bound. Then a robust adaptive control law, unmeasured states observer, and unknown parameters estimator are designed such that global stability is achieved for all signals involved. Using the suggested scheme, simulation is carried on for a single- link mechanical system with a BLH exist at its actuation and dynamic friction torque exerts on the joint. We will see that excellent tracking performance is obtained and all closed loop signals are bounded.
http://hdl.handle.net/10993/12640

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