Adaptive Backstepping Control of Gear Transmission Systems with Elastic Deadzone
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- 英文论文题名：Adaptive Backstepping Control of Gear Transmission Systems with Elastic Deadzone
- 论文作者：Jiawei Song ; Zongyu Zuo ; Zhengtao Ding
- 英文论文作者：Jiawei Song ; Zongyu Zuo ; Zhengtao Ding ; The Seventh Research Division ; and Science and Technology on Aircraft Control Laboratory ; Beihang University ; School of Electrical and Electronic Engineering ; University of Manchester
- 年：2017
- 作者机构：The Seventh Research Division,and Science and Technology on Aircraft Control Laboratory,Beihang University;School of Electrical and Electronic Engineering,University of Manchester;
- 英文论文关键词：Elastic deadzone ; adaptive backstepping ; gear transmission system ; position tracking
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：TH132.41
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：285k
- 原文格式：D
- 会议级别：全国
摘要
This paper deals with the tracking control problem of uncertain transmission systems in the presence of elastic deadzone. Due to the derivative term in the elastic deadzone model, it is not straightforward to apply the backstepping control for the elastic system which is not in strict feedback form. To overcome this limitation, the system is first transformed into two cascaded subsystems and an adaptive backstepping controller is proposed based on the transformed cascaded system. The stability analysis is carried out within the framework of Lyapunov functions and shows that all the states of the closed-loop system are bounded and the tracking error is uniformly ultimately bounded. Finally, simulations are presented to demonstrate the performance of the controlled system.
This paper deals with the tracking control problem of uncertain transmission systems in the presence of elastic deadzone. Due to the derivative term in the elastic deadzone model, it is not straightforward to apply the backstepping control for the elastic system which is not in strict feedback form. To overcome this limitation, the system is first transformed into two cascaded subsystems and an adaptive backstepping controller is proposed based on the transformed cascaded system. The stability analysis is carried out within the framework of Lyapunov functions and shows that all the states of the closed-loop system are bounded and the tracking error is uniformly ultimately bounded. Finally, simulations are presented to demonstrate the performance of the controlled system.
This paper deals with the tracking control problem of uncertain transmission systems in the presence of elastic deadzone. Due to the derivative term in the elastic deadzone model, it is not straightforward to apply the backstepping control for the elastic system which is not in strict feedback form. To overcome this limitation, the system is first transformed into two cascaded subsystems and an adaptive backstepping controller is proposed based on the transformed cascaded system. The stability analysis is carried out within the framework of Lyapunov functions and shows that all the states of the closed-loop system are bounded and the tracking error is uniformly ultimately bounded. Finally, simulations are presented to demonstrate the performance of the controlled system.
引文
[1]I.Kolnik and G.Agranovich,Backlash compensation for motion system with elastic transmission,in Proceedings of the2012 IEEE 27th Convention of Electrical and Electronics Engineers in Israel(IEEEI),2012:1–5.
[2]M.A.Mohan,A new compenstion technique for backlash in position control system with elasticity,in Proceedings of the39th IEEE Southeastern Symposium on System Theory,2007:244–248.
[3]R.R.Selmic and F.L.Lewis,Deadzone compensation in motion control systems using neural networks,IEEE Trans.on Automatic Control,45(4):602–613,2000.
[4]J.O.Jang,H.T.Chung and G.J.Jeon,Saturation and deadzone compensation of systems using neural network and fuzzy Logic,in Proceedings of the 2005 American Control Conference,2005:1715–1720.
[5]A.Porumb,Position control of an elastic two-mass driving system with backlash and friction,using sliding modle controller,FACTA UNIVERSITATIS Series:Mechanics,Automatic,Control and Robotics,2(7):285–290,1997.
[6]Z.Zuo,X.Ju and Z.Ding,Control of gear transmission servo systems with asymmetric deadzone nonlinearity,IEEE Trans.on control system technology,24(4):1472–1478,2015.
[7]Z.Shi,Z.Zuo,Backstepping control for gear transmission servo systems With backlash nonlinearity,IEEE Trans.on Automation Science and Engineering,12(2):752–757,2015.
[8]Z.Liu,X.Dong,J.Xue and Y.Chen,Adaptive neural control for a class of time-delay systems in the presence of backlash or dead-zone non-linearity,IET Control Theory and Applications,8(11):1009–1022,2014.
[9]Z.Wang,Y.Zhang,and H.Fang,Neural adaptive control for a class of nonlinear systems with unknown deadzone,Neural Computing and Applications,17(4):339–345,2008.
[10]J.Na,Adaptive prescribed performance control of nonlinear systems with unknown dead zone,International Journal of Adaptive Control and Signal Processing,27(5):426–446,2013.
[11]Z.Zuo,X.Li and Z.Shi,L1 adaptive control of uncertain gear transmission servo systems with deadzone nonlinearity,ISA Transactions,58(8):67–75,2015.
[12]J.Zhou,C.Wen,and Y.Zhang,Adaptive Output Control of Nonlinear Systems With Uncertain Dead-Zone Nonlinearity,IEEE Transactions on Automatic Control,51(3):504–511,2006.
[13]J.Zhou and X.Z.Shen,Robust adaptive control of nonlinear uncertain plants with unknown dead-zone,IET Control Theory and Applications,1(1):25–32,2007.
[14]X.S.Wang,C.Y.Su and H.Hong,Robust adaptive control of a class of nonlinear systems with unknown dead-zone,Automatica,40(9):407–413,2004.
[15]M.Nordin,J.Galic and P.O.Gutman,New models for backlash and gearplay,International Journal of Adaptive Control and Signal Processing,11(1):49–63,1997.
[16]M.Nordin,and P.O.Gutman,Controlling mechanical systems with backlash-a survey,Automatica,38(10):1633-1649,2002.
[17]M.Nordin,and P.O.Gutman,Non-linear speed control of elastic systems with backlash,in Proceedings of the 39th IEEE Conference on Decision and Control,2000:4060–4065.
[18]M.B.Khan,K.Munawar and H.Nisar,Switched hybrid position control of elastic systems with backlash,in Proceedings of the 2013 IEEE International Conference on Control System,Computing and Engineering(ICCSCE),2013:551–556.
[19]M.B.Khan,F.M.Malik and K.Munawar,Switched hybrid speed control of elastic systems with backlash,in Proceedings of the 2010 IEEE International Conference on Industrial Engineering and Engineering Management(IEEM),2010:1641–1644.
[20]Z.Ding,Nonlinear and Adaptive Control Systems.London,U.K.:IET,2013.
[21]T.Achilles and G.A.Rovithakis,Guaranteeing preselected tracking quality for uncertain strict-feedback systems with deadzone input nonlinearity and disturbances via lowcomplexity control,Automatica,54(7):135–145,2015.
[2]M.A.Mohan,A new compenstion technique for backlash in position control system with elasticity,in Proceedings of the39th IEEE Southeastern Symposium on System Theory,2007:244–248.
[3]R.R.Selmic and F.L.Lewis,Deadzone compensation in motion control systems using neural networks,IEEE Trans.on Automatic Control,45(4):602–613,2000.
[4]J.O.Jang,H.T.Chung and G.J.Jeon,Saturation and deadzone compensation of systems using neural network and fuzzy Logic,in Proceedings of the 2005 American Control Conference,2005:1715–1720.
[5]A.Porumb,Position control of an elastic two-mass driving system with backlash and friction,using sliding modle controller,FACTA UNIVERSITATIS Series:Mechanics,Automatic,Control and Robotics,2(7):285–290,1997.
[6]Z.Zuo,X.Ju and Z.Ding,Control of gear transmission servo systems with asymmetric deadzone nonlinearity,IEEE Trans.on control system technology,24(4):1472–1478,2015.
[7]Z.Shi,Z.Zuo,Backstepping control for gear transmission servo systems With backlash nonlinearity,IEEE Trans.on Automation Science and Engineering,12(2):752–757,2015.
[8]Z.Liu,X.Dong,J.Xue and Y.Chen,Adaptive neural control for a class of time-delay systems in the presence of backlash or dead-zone non-linearity,IET Control Theory and Applications,8(11):1009–1022,2014.
[9]Z.Wang,Y.Zhang,and H.Fang,Neural adaptive control for a class of nonlinear systems with unknown deadzone,Neural Computing and Applications,17(4):339–345,2008.
[10]J.Na,Adaptive prescribed performance control of nonlinear systems with unknown dead zone,International Journal of Adaptive Control and Signal Processing,27(5):426–446,2013.
[11]Z.Zuo,X.Li and Z.Shi,L1 adaptive control of uncertain gear transmission servo systems with deadzone nonlinearity,ISA Transactions,58(8):67–75,2015.
[12]J.Zhou,C.Wen,and Y.Zhang,Adaptive Output Control of Nonlinear Systems With Uncertain Dead-Zone Nonlinearity,IEEE Transactions on Automatic Control,51(3):504–511,2006.
[13]J.Zhou and X.Z.Shen,Robust adaptive control of nonlinear uncertain plants with unknown dead-zone,IET Control Theory and Applications,1(1):25–32,2007.
[14]X.S.Wang,C.Y.Su and H.Hong,Robust adaptive control of a class of nonlinear systems with unknown dead-zone,Automatica,40(9):407–413,2004.
[15]M.Nordin,J.Galic and P.O.Gutman,New models for backlash and gearplay,International Journal of Adaptive Control and Signal Processing,11(1):49–63,1997.
[16]M.Nordin,and P.O.Gutman,Controlling mechanical systems with backlash-a survey,Automatica,38(10):1633-1649,2002.
[17]M.Nordin,and P.O.Gutman,Non-linear speed control of elastic systems with backlash,in Proceedings of the 39th IEEE Conference on Decision and Control,2000:4060–4065.
[18]M.B.Khan,K.Munawar and H.Nisar,Switched hybrid position control of elastic systems with backlash,in Proceedings of the 2013 IEEE International Conference on Control System,Computing and Engineering(ICCSCE),2013:551–556.
[19]M.B.Khan,F.M.Malik and K.Munawar,Switched hybrid speed control of elastic systems with backlash,in Proceedings of the 2010 IEEE International Conference on Industrial Engineering and Engineering Management(IEEM),2010:1641–1644.
[20]Z.Ding,Nonlinear and Adaptive Control Systems.London,U.K.:IET,2013.
[21]T.Achilles and G.A.Rovithakis,Guaranteeing preselected tracking quality for uncertain strict-feedback systems with deadzone input nonlinearity and disturbances via lowcomplexity control,Automatica,54(7):135–145,2015.