By Mattias Nordin, Per Bodin, Per-Olof Gutman (auth.), Gang Tao PhD, Frank L. Lewis PhD (eds.)
A whole connection with adaptive keep an eye on of structures with nonsmooth nonlinearities such as:
• part failure;
• time delays.
These nonlinearities in commercial actuators reason critical difficulties within the movement keep watch over of commercial methods, quite in view of recent requisites for pace and precision of circulation, corresponding to happen in semiconductor production, precision machining and in different places. Actuator nonlinearities are ubiquitous in engineering perform and restrict keep watch over method performance.
While regular suggestions keep an eye on on my own can't deal with those nonsmooth nonlinearities successfully, this publication, with unified and systematic adaptive layout equipment built in sixteen chapters, indicates how such nonlinear features may be successfully compensated for by utilizing adaptive and clever keep watch over recommendations. this enables wanted procedure functionality to be accomplished within the presence of doubtful nonlinearities.
With broad surveys of literature and entire summaries of assorted layout equipment the authors of the booklet chapters, who're specialists of their components of curiosity, current new ideas to a few very important concerns in adaptive regulate of platforms with a variety of types of nonsmooth nonlinearities.
In addition to offering recommendations, the publication is additionally aimed toward motivating extra study actions within the very important box of adaptive regulate of nonsmooth nonlinear business structures via formulating numerous demanding open difficulties in comparable areas.
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Additional resources for Adaptive Control of Nonsmooth Dynamic Systems
6 Conclusions In order to design an efficient control system, by any method, for a mechanical system including nonsmooth nonlinearities such as backlash, it seems necessary to have a correct model. Hitherto the dead zone model [23,13,10,8) has been used for designs reported in the literature, such as classical design using the describing function [12), robust linear design using the describing function [18), linear design with a load ob server [4), a switching robust design with a load sensor [2), or adaptive control using an inverse model [20-22).
For the simulation presented in Figure 3 the following results were obtained New Models and Identification Methods for Backlash and Gear Play 11 Integrated torque [10 - O. Gutman. Quantative design of a dass of nonlinear systems with parameter uncertainty. Int. J. 0/ Robust and Nonlinear Gontrol, 4:101-117,1994. 18. S. Oldak and P. O. Gutman. Self oscillating adaptive design of system with dry friction and significant parametric uncertainty. Int. J. of Adaptive Gontrol and Signal Processing, 9:239-253, 1995. 19. J. Peschon. Disciplines and Techniques of Systems Gontrol. Blanisdell, New York,1965. 20. G. Tao and P. Kokotovic. Adaptive control of systems with backlash.
Adaptive Control of Nonsmooth Dynamic Systems by Mattias Nordin, Per Bodin, Per-Olof Gutman (auth.), Gang Tao PhD, Frank L. Lewis PhD (eds.)
O. Gutman. Quantative design of a dass of nonlinear systems with parameter uncertainty. Int. J. 0/ Robust and Nonlinear Gontrol, 4:101-117,1994. 18. S. Oldak and P. O. Gutman. Self oscillating adaptive design of system with dry friction and significant parametric uncertainty. Int. J. of Adaptive Gontrol and Signal Processing, 9:239-253, 1995. 19. J. Peschon. Disciplines and Techniques of Systems Gontrol. Blanisdell, New York,1965. 20. G. Tao and P. Kokotovic. Adaptive control of systems with backlash.