Adaptive control of systems with backlash hysteresis at the input

Nizar J. Ahmad, Farshad Khorrami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A new compact dynamical model for backlash inverse is presented. This model may be utilized for both backlash at the input or at the output. Two cases are considered: the case where the backlash spacing is known as well as the case of unknown backlash spacing. For the latter case, an adaptive update law is developed to compensate for the unknown spacing. The adaptive backlash inverse controller is a break-away from existing backlash compensators which are mostly implemented in discrete-time and utilize complex control algorithms. The advocated results are applied to a one degree-of-freedom system affected by backlash. The stability of the closed-loop system is shown using Lyapunov arguments. Simulation results show that the control methodology greatly improves tracking performance over a PD type controller.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
PublisherIEEE
Pages3018-3022
Number of pages5
Volume5
StatePublished - 1999
EventProceedings of the 1999 American Control Conference (99ACC) - San Diego, CA, USA
Duration: Jun 2 1999Jun 4 1999

Other

OtherProceedings of the 1999 American Control Conference (99ACC)
CitySan Diego, CA, USA
Period6/2/996/4/99

Fingerprint

Hysteresis
Controllers
Closed loop systems

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Ahmad, N. J., & Khorrami, F. (1999). Adaptive control of systems with backlash hysteresis at the input. In Proceedings of the American Control Conference (Vol. 5, pp. 3018-3022). IEEE.

Adaptive control of systems with backlash hysteresis at the input. / Ahmad, Nizar J.; Khorrami, Farshad.

Proceedings of the American Control Conference. Vol. 5 IEEE, 1999. p. 3018-3022.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ahmad, NJ & Khorrami, F 1999, Adaptive control of systems with backlash hysteresis at the input. in Proceedings of the American Control Conference. vol. 5, IEEE, pp. 3018-3022, Proceedings of the 1999 American Control Conference (99ACC), San Diego, CA, USA, 6/2/99.
Ahmad NJ, Khorrami F. Adaptive control of systems with backlash hysteresis at the input. In Proceedings of the American Control Conference. Vol. 5. IEEE. 1999. p. 3018-3022
Ahmad, Nizar J. ; Khorrami, Farshad. / Adaptive control of systems with backlash hysteresis at the input. Proceedings of the American Control Conference. Vol. 5 IEEE, 1999. pp. 3018-3022
@inproceedings{e57faf884a674802b844bdbbb3b410a5,
title = "Adaptive control of systems with backlash hysteresis at the input",
abstract = "A new compact dynamical model for backlash inverse is presented. This model may be utilized for both backlash at the input or at the output. Two cases are considered: the case where the backlash spacing is known as well as the case of unknown backlash spacing. For the latter case, an adaptive update law is developed to compensate for the unknown spacing. The adaptive backlash inverse controller is a break-away from existing backlash compensators which are mostly implemented in discrete-time and utilize complex control algorithms. The advocated results are applied to a one degree-of-freedom system affected by backlash. The stability of the closed-loop system is shown using Lyapunov arguments. Simulation results show that the control methodology greatly improves tracking performance over a PD type controller.",
author = "Ahmad, {Nizar J.} and Farshad Khorrami",
year = "1999",
language = "English (US)",
volume = "5",
pages = "3018--3022",
booktitle = "Proceedings of the American Control Conference",
publisher = "IEEE",

}

TY - GEN

T1 - Adaptive control of systems with backlash hysteresis at the input

AU - Ahmad, Nizar J.

AU - Khorrami, Farshad

PY - 1999

Y1 - 1999

N2 - A new compact dynamical model for backlash inverse is presented. This model may be utilized for both backlash at the input or at the output. Two cases are considered: the case where the backlash spacing is known as well as the case of unknown backlash spacing. For the latter case, an adaptive update law is developed to compensate for the unknown spacing. The adaptive backlash inverse controller is a break-away from existing backlash compensators which are mostly implemented in discrete-time and utilize complex control algorithms. The advocated results are applied to a one degree-of-freedom system affected by backlash. The stability of the closed-loop system is shown using Lyapunov arguments. Simulation results show that the control methodology greatly improves tracking performance over a PD type controller.

AB - A new compact dynamical model for backlash inverse is presented. This model may be utilized for both backlash at the input or at the output. Two cases are considered: the case where the backlash spacing is known as well as the case of unknown backlash spacing. For the latter case, an adaptive update law is developed to compensate for the unknown spacing. The adaptive backlash inverse controller is a break-away from existing backlash compensators which are mostly implemented in discrete-time and utilize complex control algorithms. The advocated results are applied to a one degree-of-freedom system affected by backlash. The stability of the closed-loop system is shown using Lyapunov arguments. Simulation results show that the control methodology greatly improves tracking performance over a PD type controller.

UR - http://www.scopus.com/inward/record.url?scp=0033283426&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0033283426&partnerID=8YFLogxK

M3 - Conference contribution

VL - 5

SP - 3018

EP - 3022

BT - Proceedings of the American Control Conference

PB - IEEE

ER -