Adaptive Backstepping Control of Electrical Transmission Drives with Elastic, Unknown Backlash and Coulomb Friction Nonlinearity

Authors

Đông Huỳnh Văn
Kiên Trần Xuân
Định Nguyễn Công

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.

Publication Date

11-26-2017

Recommended Citation

Văn, Đông Huỳnh; Xuân, Kiên Trần; and Công, Định Nguyễn (2017) "Adaptive Backstepping Control of Electrical Transmission Drives with Elastic, Unknown Backlash and Coulomb Friction Nonlinearity," ASEAN Journal on Science and Technology for Development: Vol. 26: No. 1, Article 7.
DOI: https://doi.org/10.29037/ajstd.305
Available at: https://ajstd.ubd.edu.bn/journal/vol26/iss1/7