Quantized adaptive tracking control for nonlinear systems with actuator backlash compensation |
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| Institution: | 1. Université de Toulouse, Toulouse, France;2. INSA, UPS, Mines Albi, ISAE, Toulouse, France;3. ICA (Institut Clément Ader), Toulouse, France;1. Institute of Machine Intelligence, University of Shanghai for Science and Technology, Shanghai 200093, China;2. Department of Electrical and Biomedical Engineering, University of Nevada, Reno, NV 89557, USA |
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| Abstract: | In this paper, the problem of adaptive tracking control is investigated for nonlinear systems with asymmetric actuator backlash. We assume that the nonlinearities of the systems are unknown and the external disturbances are bounded. First, the control input will be quantized by a hysteresis-type quantizer, which can reduce the communication rate of the control signal. Then, the asymmetric actuator backlash is approximated to a new model, and a novel adaptive controller with the quantizer is designed via an adaptive backstepping technique to guarantee all the signals of the closed-loop tracking error system are uniform ultimate boundedness. Finally, the simulation results are presented to demonstrate the effectiveness of the proposed algorithm. |
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