Adaptive Backstepping Control of Electrical Transmission Drives with Elastic, Unknown Backlash and Coulomb Friction Nonlinearity

Adaptive Backstepping Control of Electrical Transmission Drives with Elastic, Unknown Backlash and Coulomb Friction Nonlinearity

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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...

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Bibliographic Details
Main Authors: Huỳnh Văn Đông, Trần Xuân Kiên, Nguyễn Công Định
Format: Article
Language:English
Published: Universiti Brunei Darussalam 2017-11-01
Series:ASEAN Journal on Science and Technology for Development
Subjects:
Adaptive control
backstepping
backlash
Coulomb friction
dead - zone
nonlinear systems
stability.
Online Access:http://www.ajstd.org/index.php/ajstd/article/view/180

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