Adaptive Backstepping Control of Electrical Transmission Drives with Elastic, Unknown Backlash and Coulomb Friction Nonlinearity
In this paper, we present a new scheme to design an adaptive controller for uncertain nonlinear systems with unknown backlash, Coulomb friction nonlinearity. The control design is achieved by introducing a smooth approximate backlash model and certain well defined functions and by using backstepping...
Main Authors: | , , |
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Format: | Article |
Language: | English |
Published: |
Universitas Gadjah Mada
2017-11-01
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Series: | ASEAN Journal on Science and Technology for Development |
Subjects: | |
Online Access: | http://www.ajstd.org/index.php/ajstd/article/view/180 |