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Author Sankaranarayanan, S. ♦ Khorrami, F.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©1997
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Programmable control ♦ Adaptive control ♦ Friction ♦ Uncertainty ♦ Electric variables control ♦ Control systems ♦ Nonlinear systems ♦ Nonlinear dynamical systems ♦ Backstepping ♦ Feedback
Abstract A smooth adaptive control methodology combining the results of a variable structure control scheme and backstepping is proposed for the class of systems in the special strict feedback form. The controller ensures the global asymptotic tracking and regulation of the first /spl kappa/ states which are in a chain of integrators form and globally uniformly bounded tracking for the remaining states. An application of this methodology for the case of friction compensation in drives containing a compliant transmission between the load and the actuator is presented. The friction model considered is a six parameter dynamic model. This problem is significant because the load side friction is mismatched with the control. The advocated controller does not require knowledge of any of the parameters of friction and is shown to give global asymptotic tracking of the load angle and velocity in the presence of dynamic uncertainties. Simulation results indicate the efficacy of the proposed approach.
Description Author affiliation: Dept. of Electr. Eng., Polytech. Univ., Brooklyn, NY, USA (Sankaranarayanan, S.)
ISBN 0780341872
ISSN 01912216
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 1997-12-12
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 539.88 kB
Page Count 6
Starting Page 4159
Ending Page 4164

Source: IEEE Xplore Digital Library