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Operator-based Robust Control for Nonlinear Uncertain Systems with Unknown Backlash-like Hysteresis
Shuhui Bi,Lei Wang,Yongguo Zhao,Mingcong Deng 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.2
In this paper, operator based robust control for nonlinear uncertain system with unknown backlash-likehysteresis is considered. In detail, a continuous backlash-like hysteresis operator is proved to be corresponding to aone-to-one operator, that is, it is suitable to be used in operator theoretic based control theory. Moreover, an internalmodel control (IMC) structure with one parallel compensating operator is proposed for nonlinear uncertain systemwith unknown backlash-like hysteresis. Based on the proposed control scheme, the designed system is robustlystable and the desired output tracking performance can be realized simultaneously. Finally, a simulation exampleabout nonlinear plant preceded by backlash is given to show the design procedure of the proposed method.
Operator based Nonlinear Control for Nonlinear Plants with Time-delays
Mingcong Deng,Shuhui Bi,Akira Yanou,Akira Inoue 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, operator based robust nonlinear control for nonlinear plants with time-delays is considered by using robust right coprime factorization approach. That is, based on internal model control (IMC) and a delay compensating method, operator based nonlinear control systems are designed, and sufficient conditions for the designed feedback control systems are obtained. Based on the conditions, robust stability of the nonlinear systems is ensured and output tracking performance is also realized. A simulation example is given to support the proposed design scheme.