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
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Ren, X. M., Li, Y., & Gong, Z. H. (2000). Adaptive nonlinear PID control and rule-based compensation for systems with backlash. Journal of Beijing Institute of Technology (English Edition), 9(2), 195-200.