PRACTICAL STABILIZATION OF A CLASS OF NONLINEAR PLANTS WITH UNCERTAIN INPUT AND OUTPUT NONLINEARITIES.

Abstract Abstract This paper addresses the stabilization problem of “sandwich systems”, i.e. intrinsically nonlinear and uncertain SIMO plants containing simultaneoulsy either backlash and dead zone in the actuator and dead zones in sensors. The proposed controllers, based on sliding mode control, have been shown to achieve state (hence output) boundedness. The rationale followed in control design consists in ensuring the achievement of a sliding motion which, in turn, guarantees the attraction of the state vector towards a boundary layer, whose maximum width depends on the uncertainty on output measurements caused by the presence of unknown deadzones in sensors. Furthermore, the control laws have been designed as to simultaneously guarantee also the avoidance of actuator nonlinearities, ensuring that the 'forbidden region' of dead zones and backlash are never entered, even in the presence of uncertainties. Simulation results show the effectiveness of the proposed controllers.

[1]  Maria Letizia Corradini,et al.  Robust stabilization of nonlinear uncertain plants with backlash or dead zone in the actuator , 2002, IEEE Trans. Control. Syst. Technol..

[2]  Edwin K. P. Chong,et al.  A two-layered fuzzy logic controller for systems with deadzones , 1994, IEEE Trans. Ind. Electron..

[3]  Shaheen Ahmad,et al.  Analysis of robot drive train errors, their static effects, and their compensations , 1988, IEEE J. Robotics Autom..

[4]  R.D. Lorenz,et al.  Neural network compensation of gear backlash hysteresis in position-controlled mechanisms , 1993, Conference Record of the 1993 IEEE Industry Applications Conference Twenty-Eighth IAS Annual Meeting.

[5]  Frank L. Lewis,et al.  Deadzone compensation in nonlinear systems using neural networks , 1998, Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171).

[6]  P. Kokotovic,et al.  Adaptive nonlinear control of systems containing a deadzone , 1991, [1991] Proceedings of the 30th IEEE Conference on Decision and Control.

[7]  Frank L. Lewis,et al.  Backlash compensation in nonlinear systems using dynamic inversion by neural networks , 1999, Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328).

[8]  C. Desoer,et al.  Stability of dithered non-linear systems with backlash or hysteresis , 1986 .

[9]  Gang Tao,et al.  Adaptive control of plants with unknown dead-zones , 1994 .

[10]  Frank L. Lewis,et al.  A fuzzy system compensator for backlash , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[11]  Gang Tao.  Adaptive control of partially known systems , 1995, IEEE Trans. Autom. Control..

[12]  Guomin Li,et al.  Robust nonlinear nominal-model following control to overcome deadzone nonlinearities , 2001, IEEE Trans. Ind. Electron..

[13]  S. M. Shahruz.  Performance enhancement of a class of nonlinear systems by disturbance observers , 2000 .

[14]  Kai Liu,et al.  Adaptive fuzzy logic compensation of actuator deadzones , 1997, J. Field Robotics.

[15]  S. M. Shahruz,et al.  Performance enhancement of a class of nonlinear systems by disturbance observers , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[16]  José António Tenreiro Machado,et al.  Variable structure control of robots with nonlinear friction and backlash at the joints , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[17]  Torbjörn Wigren,et al.  Compensation of the RLS algorithm for output nonlinearities , 1999, IEEE Trans. Autom. Control..

[18]  Gang Tao,et al.  Continuous-time Adaptive Control of Systems with Unknown Backlash , 1993, 1993 American Control Conference.

[19]  Gang Tao,et al.  Adaptive Control of Systems with Actuator and Sensor Nonlinearities , 1996 .

[20]  M. Grundelius,et al.  Adaptive control of systems with backlash acting on the input , 1996, Proceedings of 35th IEEE Conference on Decision and Control.

[21]  Gang Tao,et al.  Adaptive control of system with unknown output backlash , 1995 .