Identify and built a control of systems with backlash
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tapchikhgkdt@hcmute.edu.vnKeywords:
Backlash, anti-backlash, backlash-inverse, adaptive control, MRAs, MRAC, system identificationAbstract
This paper addresses one non-differentiable non-linearity which usually appears in industrial mechanism: backlash. We introduce an algorithm including backlash-inverse function and MRAs (Model reference adaptive system) to identify and control a black-box system (including a transfer function, a backlash function and disturbances). The effect of the algorithm provided is verified in theoretical simulation and in the experiment
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References
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Gang Tao và Petar V. Kokotovic, Continuous-Time Adaptive Control of Systems with Unknown Backlash, American Control Conference, 1344-1348, (1993).
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Priyank Jain và M.J. Nigam, Design of a Model Reference Adaptive Controller Using Modified MIT Rule for a Second Order System, Advance in Electronic and Electric Engineering, tập 3 số 4, 477-484, (2013).
Karl Johan Astrom và Bjorn Wittenmark, Adaptive control, 180-260, Addison-Wesley, tái bản lần 2, 1995.
Priyank Jain và M.J. Nigam, Design of a Model Reference Adaptive Controller Using Modified MIT Rule for a Second Order System, Advance in Electronic and Electric Engineering, tập 3 số 4, 477-484, (2013).
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