Adaptive Actuator Compensation Control with Feedback Linearization

IEEE Transactions on Automatic Control

Volumn 45, Issue 9, 2000, Pages 1705-1710

  Ma, Xiaoli ^a   Tao, Gang ^a  

^a University of Virginia   (United States)

Author keywords

Adaptive control; feedback linearization; nonsmooth nonlinearities; stability

Indexed keywords

ACTUATORS; CLOSED LOOP CONTROL SYSTEMS; COMPUTER SIMULATION; CONTROL NONLINEARITIES; ERROR ANALYSIS; FEEDBACK CONTROL; INVERSE PROBLEMS; LINEARIZATION; MULTIVARIABLE CONTROL SYSTEMS; NONLINEAR SYSTEMS; SYSTEM STABILITY;

ADAPTIVE INVERSE CONTROLLER; FEEDBACK LINEARIZING CONTROLLER; NONSMOOTH NONLINEARITIES;

ADAPTIVE CONTROL SYSTEMS;

EID: 0034262561     PISSN: 00189286     EISSN: 15582523     Source Type: Journal    
DOI: 10.1109/9.880627     Document Type: Article

References (11)

1. H. Cho and E.-W. Bai, “Convergence results for an adaptive dead zone inverse,” Int. J. Adapt. Contr. Signal Process., vol. 12, no. 5, pp. 451-466, 1998.
2. A. Isidori, Nonlinear Control Systems, 3rd ed. Berlin, Germany: Springer-Verlag, 1995.
3. M. Krstić, I. Kanellakopoulos, and P.V. Kokotović, Nonlinear and Adaptive Control Design. New York: Wiley, 1995.
4. A. J. Kurdila and G. Webb, “Compensation for distributed hysteresis operators in active structural systems,” J. Guidance, Contr., Dynamics, vol. 20, no. 6, 1997.
5. F. L. Lewis, K. Liu, R. R. Selmic, and L.-X. Wang, “Adaptive fuzzy logic compensation of actuator dead-zones,” J. Robot Syst., vol. 14, no. 6, pp. 501-511, 1997.
6. F. L. Lewis, C. T. Abdallah, and D. M. Dawson, Control of Robot Manipulators. New York: Macmillan, 1993.
7. D. Recker, P.V. Kokotović, D. Rhode, and J. Winkelman, “Adaptive nonlinear control of systems containing a dead-zone,” in Proc. 30th IEEE CDC, pp. 2111-2115.
8. R. R. Selmic and F. L. Lewis, “Dead-zone compensation in nonlinear systems using neural networks,” in Proc. 37th IEEE CDC, 1998, pp. 513-519.
9. M. W. Spong and M. Vidyasagar, Robot Dynamics and Control. New York: Wiley, 1989.
10. G. Tao and P. V. Kokotović, Adaptive Control of Systems with Actuator and Sensor Nonlinearities. New York: Wiley, 1996.
11. G. Tao and M. Tian, “Discrete-time adaptive control of systems with multi-segment piecewise-linear nonlinearities,” IEEE Trans. Automat. Contr., vol. 43, pp. 719-723, May 1998