抄録
This paper aims at eliminating the asymmetric and saturated hysteresis nonlinearities by designing hysteresis pseudo inverse compensator and robust adaptive dynamic surface control ( DSC ) scheme. The “ pseudo inverse ” means that an on-line calculation mechanism of approximate control signal is developed by applying a searching method to the designed temporary control signal where the true control signal is included. The main contributions are summarized as: 1) to our best knowledge, it is the first time to compensate the asymmetric and saturated hysteresis by using hysteresis pseudo inverse compensator because the construction of the true saturated-type hysteresis inverse model is very difficult; 2) by designing the saturated-type hysteresis pseudo inverse compensator, the construction of true explicit hysteresis inverse and the identifications of its corresponding unknown parameters are not required when dealing with the saturated-type hysteresis; 3) by combining DSC technique with the tracking error transformed function, the “ explosion of complexity ” problem in backstepping method is overcome and the prespecified tracking performance is achieved. Analysis of stability and experimental results on the hardware-in-loop platform illustrate the effectiveness of the proposed adaptive pseudo inverse control scheme.
本文言語 | English |
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ジャーナル | IEEE/CAA Journal of Automatica Sinica |
DOI | |
出版ステータス | Accepted/In press - 2020 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Information Systems
- Artificial Intelligence