0
TECHNICAL BRIEF

Robust Adaptive Compensation for a Class of Nonlinear Systems

[+] Author and Article Information
Hongliu Du

Technical Center, Caterpillar Inc., Peoria IL

Satish S. Nair

Mechanical and Aerospace Engineering, University of Missouri-Columbia, MO 65211

J. Dyn. Sys., Meas., Control 124(1), 231-234 (Apr 10, 1998) (4 pages) doi:10.1115/1.1433800 History: Received April 10, 1998
Copyright © 2002 by ASME
Your Session has timed out. Please sign back in to continue.

References

Slotine,  J. E., and Coetsee,  J. A., 1986, “Adaptive Sliding Controller Synthesis for Nonlinear Systems,” Int. J. Control, 43, No. 6, pp. 1631–1651.
Yao, B., and Tomizuka, M., 1994, “Smooth Robust Adaptive Sliding Mode Control of Robot Manipulators with Guaranteed Transient Performance,” Proceedings of the American Control Conference, Baltimore, MD, pp. 1176–1180.
Ioannou, P. A., and Sun, J., 1996, Robust Adaptive Control, PTR Prentice Hall, NJ.
Song, G., Longman, R. W., Mukherjee, R., and Zhang, J., 1996, “Integral Sliding-Mode Adaptive-Robust Control,” Proceedings of the 5th IEEE International Conference on Control Applications, Dearborn, MI, pp. 656–661.
Tsypkin, Y. Z., 1996, “Learning in Robust Control Systems,” Intelligent Control Systems: Theory and Applications, M. M. Gupta, and N. K. Sinha, eds., IEEE Press, pp. 86–100.
Narendra,  K. S., and Parthasarathy,  K., 1991, “Identification and Control of Dynamical Systems Using Neural Networks,” IEEE Trans. Neural Netw., 2, pp. 252–262.
Mistry,  S. I., and Nair,  S. S., 1994, “Identification and Control Experiments Using Neural Designs,” IEEE Control Syst. Mag., 14, No. 3, pp. 48–57.
Mistry,  S. I., Chang,  S., and Nair,  S. S., 1996, “Indirect Control of a Class of Nonlinear Dynamic Systems,” IEEE Trans. Neural Netw., 7, No. 4, pp. 1015–1025.
Du,  H., and Nair,  S. S., 1999, “Modeling and Compensation of Low Velocity Friction with Bounds,” IEEE Trans. Control Syst. Technol., 7, No. 1, pp. 110–121.
Du, H., Vargas, V., and Nair, S. S., 1996, “Gaussian Networks for Control of a Class of Systems with Friction,” Proceedings of the 5th IEEE International Conference on Control Applications, Dearborn, MI, pp. 223–228.
Du,  H., and Nair,  S. S., 1998, “Low Velocity Friction Compensation,” IEEE Control Syst. Mag., 18, No. 2, pp. 61–69.
Du, H., and Nair, S. S., 1997, “Robust Adaptive Compensation for a Class of Nonlinear Systems,” Proceedings of the ASME International Mechanical Engineering Congress and Exposition, DSC-vol. 61, pp. 579–586.
Slotine, J. E., and Li, W., 1991, Applied Nonlinear Control, Prentice Hall, NJ.
Sanner,  R. M., and Slotine,  J. E., 1992, “Gaussian Networks for Direct Adaptive Control,” IEEE Trans. Neural Netw., 3, No. 6, pp. 837–863.

Figures

Grahic Jump Location
Regulation performance for the example case
Grahic Jump Location
(a) Tracking performance for the robust adaptive control design. (b) Input torque for tracking control using the proposed robust adaptive design. (c) Tracking error for the robust adaptive control design.
Grahic Jump Location
Steady-state tracking error for the robust adaptive control design

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In