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

Huỳnh Văn Đông | Zendy; Trần Xuân Kiên | Zendy; Nguyễn Công Định | Zendy

Open Access

Adaptive 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

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 , coulomb friction , controller (irrigation) , scheme (mathematics) , transmission (telecommunications) , adaptive control , passivity , coulomb , control (management) , computer science , control engineering , engineering , mathematics , physics , mathematical analysis , artificial intelligence , telecommunications , electrical engineering , quantum mechanics , agronomy , biology , electron

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.

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