摘要
该文以参数未知的双电机驱动伺服系统为研究对象,针对施加偏置力矩后的系统,应用Backstepping方法选择控制Lyapunov函数(CLF),设计了基于状态反馈的自适应控制策略,完全消除了齿隙非线性对系统的影响。理论分析和仿真研究表明,该方案能够保证系统稳定地跟踪参考输入,同时保证整个控制系统渐近稳定。
This paper studies the unknown-parameter dual-motors driving servo system with loaded torque bias. Backstepping approach is applied to select the control Lyapunov function. The adaptive control laws based on state feedback are developed to eliminate the influence of backlash on the system. The analysis and simulation show that the scheme can effectively keep track of the reference input and ensure the stability of the overall system.
出处
《南京理工大学学报》
EI
CAS
CSCD
北大核心
2007年第2期187-192,共6页
Journal of Nanjing University of Science and Technology
基金
国家自然科学基金(60174019
60034010)
