Adaptive nonlinear control of systems containing a deadzone

Recker, D. A.; Kokotović, P.V.; Rhode, Douglas; Winkelman, J.

doi:10.1109/cdc.1991.261510

Cited by 154 publications

(65 citation statements)

References 5 publications

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“…It is shown that the FL approach includes and subsumes approaches based on switching logic and indicator functions (Recker et al, 1991). This brings these references very close to fuzzy logic work in (Kim et al, 1994), and potentially allows for more exotic compensation schemes for actuator nonlinearities using more complex decision (e. g. membership) functions.…”

Section: Fuzzy Logic Deadzone Compensationmentioning

confidence: 84%

Fuzzy Logic Deadzone Compensation for a Mobile Robot

Jang¹

2011

Fuzzy Controllers, Theory and Applications

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Section: Fuzzy Logic Deadzone Compensationmentioning

confidence: 84%

Fuzzy Logic Deadzone Compensation for a Mobile Robot

Jang¹

2011

Fuzzy Controllers, Theory and Applications

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“…Here, we consider the problem of robust output tracking of the uncertain nonlinear dynamical systems with nonsymmetric dead-zone input, described by (1) and (2). For the reference output signal y d .t /, we introduce the following standard assumption.…”

Section: Problem Formulationmentioning

confidence: 99%

Robust output tracking of uncertain nonlinear systems with completely unknown dead‐zone input: A self‐tuning design approach

2016

Adaptive Control & Signal

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The main purpose of this paper is to propose a direct and simple approach, called a self-tuning design approach, to dealing with any nonsymmetric dead-zone input nonlinearity where its information is completely unknown. In order to describe the approach, the output tracking problem is considered for a class of uncertain nonlinear systems with any nonsymmetric dead-zone input. First, a dead-zone input is represented as a time-varying input-dependent function such that the considered dynamical system with dead-zone input can be transfered into an uncertain nonlinear dynamical system subject to a linear input with time-varying input coefficient. Then, by making use of the self-tuning design approach, a class of adaptive robust output tracking control schemes with a rather simple structure is synthesized. Thus, the proposed direct and simple self-tuning design approach can be easily understood by the engineering designers, and the resulting simple adaptive robust control schemes can be well implemented in most practical engineering control problems. By combining the proposed self-tuning design approach with other control methods, one may expect to obtain a number of interesting results for a rather large class of uncertain nonlinear dynamical systems with dead-zone in the actuators. Finally,the simulations of some numerical examples are provided to demonstrate the validity of the theoretical results.

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“…문헌 [16] 에서 이동로봇 제어 구조는 위 치 안정으로 제안되었다. 위치 안정보다 좀 더 넓게 추적 성능까지 고려한 극좌표 모델에서는 식 (13)- (15) [17] . 따라서 이동로 봇의 데드존 보상을 위한 퍼지논리 적용의 일반적인 기 준을 제시한다.…”

Section: 모든 역학 방정식 제한은 시간에 독립되어 있고unclassified

FL Deadzone Compensation of a Mobile robot

Jang¹

2013

Journal of the Institute of Electronics Engineers of Korea

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A control structure that makes possible the integration of a kinematic controller and a fuzzy logic (FL) deadzone compensator for mobile robots is presented. A tuning algorithm is given for the fuzzy logic parameters, so that the deadzone compensation scheme becomes adaptive, guaranteeing small tracking errors and bounded parameter estimates. Formal nonlinear stability proofs are given to show that the tracking error is small. The fuzzy logic deadzone compensator is implemented on a mobile robot to show its efficacy.

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Adaptive nonlinear control of systems containing a deadzone

Cited by 154 publications

References 5 publications

Fuzzy Logic Deadzone Compensation for a Mobile Robot

Fuzzy Logic Deadzone Compensation for a Mobile Robot

Robust output tracking of uncertain nonlinear systems with completely unknown dead‐zone input: A self‐tuning design approach

FL Deadzone Compensation of a Mobile robot

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