Adaptive nonlinear PID control and rule-based compensation for systems with backlash

Xue Mei Ren; Yan Li; Zhi Hao Gong

Adaptive nonlinear PID control and rule-based compensation for systems with backlash

Xue Mei Ren^*, Yan Li, Zhi Hao Gong

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Contribution to journal › Article › peer-review

Abstract

The control of dynamic nonlinear systems with unknown backlash was considered. By using an efficient approach to estimate the unknown backlash parameters, a rule-based backlash compensator was presented for canceling the effect of backlash. Adaptive nonlinear PID controller together with rule-based backlash compensator was developed and a satisfactory tracking performance was achieved. Simulation results demonstrate the effectiveness of the proposed method.

Original language	English
Pages (from-to)	195-200
Number of pages	6
Journal	Journal of Beijing Institute of Technology (English Edition)
Volume	9
Issue number	2
Publication status	Published - Jun 2000

Keywords

Adaptive nonlinear PID control
Backlash
Nonlinear systems

Cite this

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title = "Adaptive nonlinear PID control and rule-based compensation for systems with backlash",

abstract = "The control of dynamic nonlinear systems with unknown backlash was considered. By using an efficient approach to estimate the unknown backlash parameters, a rule-based backlash compensator was presented for canceling the effect of backlash. Adaptive nonlinear PID controller together with rule-based backlash compensator was developed and a satisfactory tracking performance was achieved. Simulation results demonstrate the effectiveness of the proposed method.",

keywords = "Adaptive nonlinear PID control, Backlash, Nonlinear systems",

author = "Ren, {Xue Mei} and Yan Li and Gong, {Zhi Hao}",

year = "2000",

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T1 - Adaptive nonlinear PID control and rule-based compensation for systems with backlash

AU - Ren, Xue Mei

AU - Li, Yan

AU - Gong, Zhi Hao

PY - 2000/6

Y1 - 2000/6

N2 - The control of dynamic nonlinear systems with unknown backlash was considered. By using an efficient approach to estimate the unknown backlash parameters, a rule-based backlash compensator was presented for canceling the effect of backlash. Adaptive nonlinear PID controller together with rule-based backlash compensator was developed and a satisfactory tracking performance was achieved. Simulation results demonstrate the effectiveness of the proposed method.

AB - The control of dynamic nonlinear systems with unknown backlash was considered. By using an efficient approach to estimate the unknown backlash parameters, a rule-based backlash compensator was presented for canceling the effect of backlash. Adaptive nonlinear PID controller together with rule-based backlash compensator was developed and a satisfactory tracking performance was achieved. Simulation results demonstrate the effectiveness of the proposed method.

KW - Adaptive nonlinear PID control

KW - Backlash

KW - Nonlinear systems

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M3 - Article

AN - SCOPUS:0034211980

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JO - Journal of Beijing Institute of Technology (English Edition)

JF - Journal of Beijing Institute of Technology (English Edition)

IS - 2

ER -

Adaptive nonlinear PID control and rule-based compensation for systems with backlash

Abstract

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