Robust Adaptive Controller and Observer Design for a Class of Nonlinear Systems with Unknown Backlash- Like Hysteresis

Jasim, Ibrahim

Reference : Robust Adaptive Controller and Observer Design for a Class of Nonlinear Systems with ...


	Document type :	Scientific congresses, symposiums and conference proceedings : Paper published in a book
	Discipline(s) :	Engineering, computing & technology : Electrical & electronics engineering
	To cite this reference:	http://hdl.handle.net/10993/12588

Title :	Robust Adaptive Controller and Observer Design for a Class of Nonlinear Systems with Unknown Backlash- Like Hysteresis
Language :	English
Author, co-author :	Jasim, Ibrahim [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
Publication date :	Nov-2011
Main document title :	2011 IEEE International Conference on Control System, Computing and Engineering
Peer reviewed :	Yes
On invitation :	No
Audience :	International
Event name :	2011 IEEE International Conference on Control System, Computing and Engineering
Event date :	25-11-2011 to 27-11-2011
Event organizer :	IEEE
Event place (city) :	Penang
Event country :	Malaysia
Keywords :	[en] Adaptive Robust Control ; Backlash ; Nonlinear Systems ; Observer
Abstract :	[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 out for a single- link mechanical system with a BLH exist at its actuation and dynamic friction torque exerts on the joint. Excellent tracking performance is obtained through the suggested approach and all closed loop signals are bounded.
Permalink :	http://hdl.handle.net/10993/12588

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