Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2005.07d
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- Pages.2471-2473
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- 2005
RHC for Nonlinear backlash system control
RHC를 이용한 비선형 Backlash 시스템 제어
- Yoo, Kyung-Sang (ELECTRICAL ENGINEERING DEPARTMENT, DOOWON TECHNICAL COLLEGE)
- 유경상 (두원공과대학 전기과)
- Published : 2005.07.18
Abstract
We present a receding horizon control [RHC] algorithm for compensation of backlash at the input of a stable linear system under control rate constraints. The problem is posed as a receding horizon optimal control [RHOptC] problem for a piecewise affine [PWA] system by modelling the backlash nonlinearity as a PWA system with a state space partition consisting of three regions. The RHC problem involves solving, at each step,
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