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Adaptive Backstepping Compensation of Drives with Sandwiched Deadzone Nonlinearity
Department of Electronic Engineering Technology, College of Technological Studies, Public Authority of Applied Education and Training (PAAET), Shuwaikh, Kuwait
Department of Electronic Engineering Technology, College of Technological Studies, Public Authority of Applied Education and Training (PAAET), Shuwaikh, Kuwait
Department of Electronic Engineering Technology, College of Technological Studies, Public Authority of Applied Education and Training (PAAET), Shuwaikh, Kuwait
Department of Electronic Engineering Technology, College of Technological Studies, Public Authority of Applied Education and Training (PAAET), Shuwaikh, Kuwait
- 1 Department of Electronic Engineering Technology, College of Technological Studies, Public Authority of Applied Education and Training (PAAET), Shuwaikh, Kuwait
- 2 Department of Electronic Engineering Technology, College of Technological Studies, Public Authority of Applied Education and Training (PAAET), Shuwaikh, Kuwait
- 3 Department of Electronic Engineering Technology, College of Technological Studies, Public Authority of Applied Education and Training (PAAET), Shuwaikh, Kuwait
- 4 Department of Electronic Engineering Technology, College of Technological Studies, Public Authority of Applied Education and Training (PAAET), Shuwaikh, Kuwait
Intelligent Control and Automation·Volume 12 (2021)·Pages 73–89·Published 28 July 2021·DOI10.4236/ica.2021.123005
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Abstract
In this paper, a nonlinear robust adaptive controller is proposed for gear transmission servo system (GTS) containing a sandwiched deadzone due to improper gear meshing. The controller is robust to dynamic uncertainties and can compensate the effect caused by the sandwiched nonlinearity which is separated from the control input through drive compliance. The proposed design methodology does not require an adaptive inverse deadzone function and does not require the knowledge of its parameter and only the knowledge of upper bounds is required.
KeywordsSandwiched DeadzoneAdaptive ControlNonlinearityLyapunov Stability
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