Open AccessAdaptive Backstepping Control of Electrical Transmission Drives with Elastic, Unknown Backlash and Coulomb Friction Nonlinearity
Author(s) -
Huỳnh Văn Đông,
Trần Xuân Kiên,
Nguyễn Công Định
Publication year - 2017
Publication title -
asean journal on science and technology for development/asean journal on science and technology for development
Language(s) - English
Resource type - Journals
eISSN - 2224-9028
pISSN - 0217-5460
DOI - 10.29037/ajstd.180
Subject(s) - backlash , backstepping , control theory (sociology) , nonlinear system , controller (irrigation) , coulomb friction , transmission (telecommunications) , adaptive control , scheme (mathematics) , passivity , coulomb , control (management) , engineering , computer science , control engineering , mathematics , physics , artificial intelligence , mathematical analysis , telecommunications , electrical engineering , quantum mechanics , biology , electron , agronomy
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 technique. Itis shown that the proposed controller can guarantee that the system is global asymptotic stable.