Open AccessRobust inverse compensation and control of a class of non‐linear systems with unknown asymmetric backlash non‐linearity
Author(s) -
Gu GuoYing,
Su ChunYi,
Zhu LiMin
Publication year - 2015
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2014.1110
Subject(s) - backlash , control theory (sociology) , compensation (psychology) , inverse , linearity , robust control , mathematics , computer science , control (management) , control system , engineering , artificial intelligence , electronic engineering , psychology , geometry , electrical engineering , psychoanalysis
A robust control approach with the inverse backlash compensation is presented for a class of non‐linear systems preceded by unknown asymmetric backlash non‐linearity. Firstly, the analytical expressions of the inverse compensation error for an asymmetric backlash are obtained by introducing new indicator functions, which make it possible to design a corresponding controller for the asymmetric input backlash. With the developed compensation error expression, conventional robust control approaches can be utilised to deal with such a non‐smooth non‐linear system. As an illustration, a robust adaptive control strategy is applied to demonstrate the approach. The developed control laws ensure the robust inverse compensation and achieve tracking within a desired accuracy. Finally, simulations performed on an unstable and uncertain non‐linear system illustrate and clarify the effectiveness of the developed approach.