带死区非线性的不确定齿轮传动伺服系统的 L1 自适应控制。
L1 adaptive control of uncertain gear transmission servo systems with deadzone nonlinearity.
机构信息
The Seventh Research Division, Beihang University (aka Beijing University of Aeronautics and Astronautics, BUAA), Beijing 100191, China; Science and Technology on Aircraft Control Laboratory, Beihang University (BUAA), Beijing 100191, China.
Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801 USA.
出版信息
ISA Trans. 2015 Sep;58:67-75. doi: 10.1016/j.isatra.2015.07.009. Epub 2015 Aug 3.
This paper deals with the adaptive control problem of Gear Transmission Servo (GTS) systems in the presence of unknown deadzone nonlinearity and viscous friction. A global differential homeomorphism based on a novel differentiable deadzone model is proposed first. Since there exist both matched and unmatched state-dependent unknown nonlinearities, a full-state feedback L1 adaptive controller is constructed to achieve uniformly bounded transient response in addition to steady-state performance. Finally, simulation results are included to show the elimination of limit cycles, in addition to demonstrating the main results in this paper.
本文针对存在未知死区非线性和粘性摩擦的齿轮传动伺服（GTS）系统的自适应控制问题展开研究。首先提出了一种基于新颖可微死区模型的全局微分同胚。由于存在匹配和不匹配的状态相关未知非线性，因此构建了全状态反馈 L1 自适应控制器，以实现除稳态性能外的一致有界瞬态响应。最后，包含仿真结果以证明消除了极限环，同时还证明了本文的主要结果。
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