基于反步自适应控制的运动系统死区补偿被引量：1

Dead-Zone Compensation in Motion System Based on Adaptive Backstepping Control

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摘要针对机械运动系统中,死区非线性的存在严重影响系统性能的问题,以存在不确定参数的系统为研究对象,应用反步积分自适应的方法,设计基于状态反馈的自适应控制器。采用Lyapunov理论证明该控制器能够保证跟踪误差的有界以及闭环系统中所有信号的有界。应用Matlab软件进行仿真,结果表明了该方法的有效性。 In a mechanical system,the dead-zone can severely limit system performance.We proposed an adaptive backstepping control for the system with unknown parameters.The control laws are based on state feedback.With the help of Lyapunov function,the control scheme can ensure bounded-error-trajectory tracking and ensure all the signals bounded in the adaptive closed loop.The simulation results show effectiveness of this method.

作者王芳芳王中华马国梁

机构地区济南大学控制科学与工程学院

出处《济南大学学报（自然科学版）》 CAS 北大核心 2012年第2期161-164,共4页 Journal of University of Jinan(Science and Technology)

基金国家自然科学基金(61074021)

关键词非线性系统死区补偿反步控制自适应控制 nonlinear system dead-zone compensation backstepping adaptive control

分类号 TP273 [自动化与计算机技术—检测技术与自动化装置]

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参考文献2

1马艳玲,黄进,张丹.基于反步自适应控制的伺服系统齿隙补偿[J].控制理论与应用,2008,25(6):1090-1094. 被引量：24
2王中华,张勇.运动控制中的鲁棒自适应死区补偿[J].控制理论与应用,2008,25(3):475-479. 被引量：4

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