控制理论与应用2012，Vol.29Issue(4)：535-538,4.
输入具有齿隙非线性特性的周期系统的自适应控制
Adaptive control of a class of periodically time-varying nonlinear systems with input backlash
摘要
Abstract
An adaptive controller is designed for a class of periodically time-varying systems with input backlash,when the periodical uncertainties can be parameterized.The unknown periodical parameters are expanded into a Fourier series;the coefficients of which and the unknown parameters of the backlash dynamics are estimated by using differential adaptive algorithms.A robust method is applied to eliminate the influences of truncation errors and bounded errors in the backlash model on the system performance.The sign function is replaced by the hyperbolic function to ensure the differentiability for the controller and to avoid the chattering.The introduction of △ functions ensures the boundedness for the parameter estimates and the asymptotical convergence for the desired trajectory.The theoretical analysis and the numerical experiment show that all the signals in the closed-loop system remain bounded.关键词
自适应控制/输入齿隙特性/非线性周期系统Key words
adaptive control/input backlash/periodically nonlinear systems分类
信息技术与安全科学引用本文复制引用
朱胜,孙明轩,何熊熊..输入具有齿隙非线性特性的周期系统的自适应控制[J].控制理论与应用,2012,29(4):535-538,4.基金项目
国家自然科学基金资助项目 （）
