Adaptive inverse compensation for actuator backlash with piecewise time-varying parameters

Existing adaptive inverse compensation methods for cancelling actuator backlash nonlinearity are all restricted to handle constant backlash parameters. In other words, when discontinuity and time variation as both ubiquitous phenomena in practical actuators exist, such inverse compensation methods a...

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Bibliographic Details
Published inInternational journal of control Vol. 91; no. 2; pp. 337 - 345
Main Authors Lai, Guanyu, Wen, Changyun, Liu, Zhi, Zhang, Yun, Chen, C.L. Philip, Xie, Shengli
Format Journal Article
LanguageEnglish
Published Abingdon Taylor & Francis 01.02.2018
Taylor & Francis Ltd
Subjects
Adaptive control
backlash
Compensation
Function analysis
Liapunov functions
Nonlinearity
piecewise function
time-varying parameters
uncertain nonlinear systems
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Summary:Existing adaptive inverse compensation methods for cancelling actuator backlash nonlinearity are all restricted to handle constant backlash parameters. In other words, when discontinuity and time variation as both ubiquitous phenomena in practical actuators exist, such inverse compensation methods are no longer applicable theoretically. So far, no result has been reported in addressing such an issue, regardless of its importance in practice. In this paper, we solve this problem by developing a new piecewise Lyapunov function analysis and using parameter projection adaptation mechanism. Based on such approaches, an adaptive inverse compensation control scheme is designed to compensate for piecewise time-varying actuator backlash nonlinearity. It is proved that all signals of closed-loop system are ensured bounded. Moreover, the steady-state error is bounded by an adjustable scalar approaching to zero arbitrarily. Simulation also illustrates the obtained theoretical results.
ISSN:0020-7179
1366-5820
DOI:10.1080/00207179.2017.1279754