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Title: Adaptive inverse compensation for actuator backlash with piecewise time-varying parameters
Authors: Lai, Guanyu
Wen, Changyun
Liu, Zhi
Zhang, Yun
Chen, Philip C. L.
Xie, Shengli
Keywords: Engineering::Electrical and electronic engineering
Issue Date: 2018
Source: Lai, G., Wen, C., Liu, Z., Zhang, Y, Chen, C. P. L., & Xie, S. (2018). Adaptive inverse compensation for actuator backlash with piecewise time-varying parameters. International Journal of Control, 91(2), 337-345. doi:10.1080/00207179.2017.1279754
Journal: International Journal of Control
Abstract: Existing adaptive inverse compensation methods for cancelling actuator backlash nonlinearity are all restricted to handle constant backlash parameters. In other words, when discontinuity and time variation as both ubiquitous phenomena in practical actuators exist, such inverse compensation methods are no longer applicable theoretically. So far, no result has been reported in addressing such an issue, regardless of its importance in practice. In this paper, we solve this problem by developing a new piecewise Lyapunov function analysis and using parameter projection adaptation mechanism. Based on such approaches, an adaptive inverse compensation control scheme is designed to compensate for piecewise time-varying actuator backlash nonlinearity. It is proved that all signals of closed-loop system are ensured bounded. Moreover, the steady-state error is bounded by an adjustable scalar approaching to zero arbitrarily. Simulation also illustrates the obtained theoretical results.
ISSN: 0020-7179
DOI: 10.1080/00207179.2017.1279754
Rights: © 2017 Informa UK Limited, trading as Taylor & Francis Group. All rights reserved.
Fulltext Permission: none
Fulltext Availability: No Fulltext
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