Adaptive nonlinear PID control and rule-based compensation for systems with backlash

被引：0
|
作者：
Ren, Xue-Mei [1 ]
Li, Yan [1 ]
Gong, Zhi-Hao [1 ]
机构：
[1] Dept. of Automat. Control, Beijing Inst. of Technol., Beijing 100081, China
来源：
Journal of Beijing Institute of Technology (English Edition) | 2000年 / 9卷 / 02期
关键词：
Adaptive nonlinear PID control - Backlash;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
The control of dynamic nonlinear systems with unknown backlash was considered. By using an efficient approach to estimate the unknown backlash parameters, a rule-based backlash compensator was presented for canceling the effect of backlash. Adaptive nonlinear PID controller together with rule-based backlash compensator was developed and a satisfactory tracking performance was achieved. Simulation results demonstrate the effectiveness of the proposed method.
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页码：195 / 200
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