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Adaptive Backstepping Control of Electrical Transmission Drives with Elastic, Unknown Backlash and Coulomb Friction Nonlinearity Huỳnh Văn Đông; Trần Xuân Kiên; Nguyễn Công Định
ASEAN Journal on Science and Technology for Development Vol. 27 No. 1 (2010): ASEAN Journal on Science and Technology for Development (AJSTD)
Publisher : Universitas Gadjah Mada

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (489.94 KB) | DOI: 10.29037/ajstd.180

Abstract

In this paper, we present a new scheme to design an adaptive controller for uncertain nonlinear systems with unknown backlash, Coulomb friction nonlinearity. The control design is achieved by introducing a smooth approximate backlash model and certain well defined functions and by using backstepping technique. Itis shown that the proposed controller can guarantee that the system is global asymptotic stable.
Adaptive Backstepping Control of Electrical Transmission Drives with Elastic, Unknown Backlash and Coulomb Friction Nonlinearity Huỳnh Văn Đông; Trần Xuân Kiên; Nguyễn Công Định
ASEAN Journal on Science and Technology for Development Vol. 26 No. 1 (2009): ASEAN Journal on Science and Technology for Development (AJSTD)
Publisher : Universitas Gadjah Mada

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (489.94 KB) | DOI: 10.29037/ajstd.305

Abstract

In this paper, we present a new scheme to design an adaptive controller for uncertain nonlinear systems with unknown backlash, Coulomb friction nonlinearity. The control design is achieved by introducing a smooth approximate backlash model and certain well defined functions and by using backstepping technique. It is shown that the proposed controller can guarantee that the system is global asymptotic stable.
Co-Authors Huỳnh Văn Đông Huỳnh Văn Đông Nguyễn Công Định Nguyễn Công Định