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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.