Adaptive Backstepping Compensation of Drives with Sandwiched Deadzone Nonlinearity  

作　　者：Nizar J. Alkhateeb Hameed K. Ebraheem Ebraheem K. Sultan Bassam M. Alrahsed Nizar J. Alkhateeb;Hameed K. Ebraheem;Ebraheem K. Sultan;Bassam M. Alrahsed(Department of Electronic Engineering Technology, College of Technological Studies, Public Authority of Applied Education and Training (PAAET), Shuwaikh, Kuwait)

机构地区：[1]Department of Electronic Engineering Technology, College of Technological Studies, Public Authority of Applied Education and Training (PAAET), Shuwaikh, Kuwait

出　　处：《Intelligent Control and Automation》2021年第3期73-89,共17页智能控制与自动化（英文）

摘　　要：In this paper, a nonlinear robust adaptive controller is proposed for gear transmission servo system (GTS) containing a sandwiched deadzone due to improper gear meshing. The controller is robust to dynamic uncertainties and can compensate the effect caused by the sandwiched nonlinearity which is separated from the control input through drive compliance. The proposed design methodology does not require an adaptive inverse deadzone function and does not require the knowledge of its parameter and only the knowledge of upper bounds is required.In this paper, a nonlinear robust adaptive controller is proposed for gear transmission servo system (GTS) containing a sandwiched deadzone due to improper gear meshing. The controller is robust to dynamic uncertainties and can compensate the effect caused by the sandwiched nonlinearity which is separated from the control input through drive compliance. The proposed design methodology does not require an adaptive inverse deadzone function and does not require the knowledge of its parameter and only the knowledge of upper bounds is required.

关 键 词：Sandwiched Deadzone Adaptive Control NONLINEARITY Lyapunov Stability 

分 类 号：O17[理学—数学]