Elsevier

Automatica

Volume 29, Issue 2, March 1993, Pages 323-335
Automatica

Paper
Adaptive control of systems with backlash

https://doi.org/10.1016/0005-1098(93)90126-EGet rights and content

Abstract

We develop a mathematical model of backlash inverse and give a parametrization of the error caused by its estimate. We then design an adaptive backlash inverse controller for unknown plants with backlash and prove the global boundedness of the closed-loop signals. Simulations show major improvements of system performance.

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Cited by (0)

The original version of this paper was presented at the 4th IFAC Symposium on Adaptive Systems in Control and Signal Processing which was held in Grenoble, France during July 1992. The Published Proceedings of this IFAC Meeting may be ordered from: Pergamon Press Ltd, Headington Hill Hall, Oxford, OX3 0BW, U.K. This paper was recommended for publication in revised form by Associate Editor C. C. Hang under the direction of Editor P. C. Parks.

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