Observer Based Control for a Class of Systems with Output Deadzone Nonlinearity  

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

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

出　　处：《Intelligent Control and Automation》2024年第3期95-107,共13页智能控制与自动化（英文）

摘　　要：In this paper, a combination of model based adaptive design along with adaptive linear output feedback controller is used to compensate for robotic manipulator with output deadzone nonlinearity. The deadzone dynamics are utilized to adaptively estimate the deadzone parameter and a switching function is designed to eliminate the error produced in the adaptive observer dynamics. The overall design of the closed loop system ensures stability in the BIBO criterion.In this paper, a combination of model based adaptive design along with adaptive linear output feedback controller is used to compensate for robotic manipulator with output deadzone nonlinearity. The deadzone dynamics are utilized to adaptively estimate the deadzone parameter and a switching function is designed to eliminate the error produced in the adaptive observer dynamics. The overall design of the closed loop system ensures stability in the BIBO criterion.

关 键 词：Adaptive Output Observer Deadzone Compensation Robot Manipulator Sliding Mode Control 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]