Advanced SearchSearch Tips
An Adaptive Control Approach for Improving Control Systems with Unknown Backlash
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
 Title & Authors
An Adaptive Control Approach for Improving Control Systems with Unknown Backlash
Han, Kwang-Ho; Koh, Gi-Ok; Sung, Jae-Min; Kim, Byoung-Soo;
  PDF(new window)
Backlash is common in mechanical and hydraulic systems and severely limits overall system performance. In this paper, the development of an adaptive control scheme for systems with unknown backlash is presented. An adaptive backlash inverse based controller is applied to a plant that has an unknown backlash in its input. The harmful effects of backlash are presented. Compensation for backlash by adding a discrete adaptive backlash inverse structure and the gradient-type adaptive algorithm, which provides the estimated backlash parameters, are also presented. The supposed adaptive backlash control algorithms are applied to an aircraft with unknown backlash in the actuator of control surfaces. Simulation results show that the proposed compensation scheme improves the tracking performance of systems with backlash.
Adaptive control;Actuator nonlinearities;Backlash;Backlash inverse;
 Cited by
Barrier Lyapunov function-based adaptive control for hypersonic flight vehicles, Nonlinear Dynamics, 2017, 88, 3, 1833  crossref(new windwow)
Adaptive Fuzzy Control for a Class of Nonlinear Discrete-Time Systems With Backlash, IEEE Transactions on Fuzzy Systems, 2014, 22, 5, 1359  crossref(new windwow)
Interpretation and compensation of backlash error data in machine centers for intelligent predictive maintenance using ANNs, Advances in Manufacturing, 2015, 3, 2, 97  crossref(new windwow)
Boundary Control Design for a Flexible Manipulator with Input Backlash * *This work was supported by the National Basic Research Program of China (973 Program) under Grant 2013CB733100, the National Natural Science Foundation of China under Grant 61522302, 6161101273, the Newton Advanced Fellowship from The Royal Society, UK, under Grant NA160436 the Beijing Natural Science Foundation under Grant 4172041, and the Fundamental Research Funds for the China Central Universities of USTB under Grant FRF-BD-16-005A and FRF-TP-15-005C1., IFAC-PapersOnLine, 2017, 50, 1, 6049  crossref(new windwow)
de Mattos, B. S. (2008). Flight Control Law Design: An Industry Perspective. Brazil: Technological Institute of Aeronautics.

Ross, J. L., McGirr, P. G., and Waniczek, O. J. Jr. (1979). Flying Qualities and Flight Control System Evaluation of the B-1 Strategic Bomber. AFFTC-TR- 79-2.

Santos, T. S. and Vieira, F. H. T. (2008). An adaptive control approach for discrete-time systems with unknown Backlash at the input. TEMA Tendencias em Matematica Aplicada e Computacional, 9, 331-340.

Selmic, R. R. and Lewis, F. L. (2001). Neural net backlash compensation with Hebbian tuning using dynamic inversion. Automatica, 37, 1269-1277. crossref(new window)

Slotine, J. J. E. and Li, W. (1991). Applied Nonlinear Control. Englewood Cliffs: Prentice Hall.

Song, Y. D., Mitchell, T. L., and Lai, H. Y. (1994). Control of a class of nonlinear uncertain systems via compensated inverse dynamics approach. IEEE Transactions on Automatic Control, 39, 1866-1871. crossref(new window)

Tao, G. and Kokotovic, P. V. (1993). Adaptive control of systems with backlash. Automatica, 29, 323-335. crossref(new window)

Tao, G. and Kokotovic, P. V. (1996). Adaptive Control of Systems with Actuator and Sensor Nonlinearities. New York: Wiley.