Adaptive inverse compensation for actuator backlash with piecewise time-varying parameters

• Main Authors: Lai, Guanyu, Wen, Changyun, Liu, Zhi, Zhang, Yun, Chen, Philip C. L., Xie, Shengli
• 其他作者: School of Electrical and Electronic Engineering
• 格式: Article
• 語言: English
• 出版: 2020
• 主題: Engineering::Electrical and electronic engineering; Adaptive Control; Uncertain Nonlinear Systems
• 在線閱讀: https://hdl.handle.net/10356/142700
• 機構: Nanyang Technological University

Existing adaptive inverse compensation methods for cancelling actuator backlash nonlinearity are all restricted to handle constant backlash parameters. In other words, when discontinuity and time variation as both ubiquitous phenomena in practical actuators exist, such inverse compensation methods a...