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Nguyễn Công Định
Le Quy Don Technical University,
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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.
Co-Authors Huỳnh Văn Đông Trần Xuân Kiên