Adaptive command-filtered control for system with unknown control direction caused by input backlash

For nonlinear system subject to unknown control direction caused by input backlash, an adaptive command-filtered control strategy is presented in this work. The proposed control method not only overcomes “computational complexity explosion” inherent in traditional backstepping method, but also guara...

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Bibliographic Details
Published inEuropean journal of control Vol. 76; p. 100962
Main Authors Sun, Guofa, Zhang, Guoju
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.03.2024
Subjects
Adaptive backstepping control
Finite-time command filter
Input backlash
Unknown control direction
Adaptive backstepping control
Input backlash
Unknown control direction
Finite-time command filter
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Summary:For nonlinear system subject to unknown control direction caused by input backlash, an adaptive command-filtered control strategy is presented in this work. The proposed control method not only overcomes “computational complexity explosion” inherent in traditional backstepping method, but also guarantees rapid convergence of tracking error. Meanwhile, a salient characteristic of command-filtering error is that the finite convergence time is assigned in a prior, which is proved by Lyapunov stability method. Especially, unknown control gain caused by input backlash of controlled system is handled by Nussbaum-type function. Finally, simulation analysis and experimental case illustrate the feasibility and effectiveness of proposed control scheme.
ISSN:0947-3580
1435-5671
DOI:10.1016/j.ejcon.2024.100962