International Journal of Aeronautical and Space Sciences

The Korean Society for Aeronautical and Space Sciences (한국항공우주학회)
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An Adaptive Control Approach for Improving Control Systems with Unknown Backlash

  • Han, Kwang-Ho (Flight Control Team, Research & Development Division, Korea Aerospace Industries, Ltd.) ;
  • Koh, Gi-Ok (Flight Control Team, Research & Development Division, Korea Aerospace Industries, Ltd.) ;
  • Sung, Jae-Min (Department of Mechanical and Aerospace Engineering, Gyeongsang National University) ;
  • Kim, Byoung-Soo (Department of Mechanical and Aerospace Engineering, Gyeongsang National University)
  • Received : 2011.10.01
  • Accepted : 2011.12.06
  • Published : 2011.12.30
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Abstract

Backlash is common in mechanical and hydraulic systems and severely limits overall system performance. In this paper, the development of an adaptive control scheme for systems with unknown backlash is presented. An adaptive backlash inverse based controller is applied to a plant that has an unknown backlash in its input. The harmful effects of backlash are presented. Compensation for backlash by adding a discrete adaptive backlash inverse structure and the gradient-type adaptive algorithm, which provides the estimated backlash parameters, are also presented. The supposed adaptive backlash control algorithms are applied to an aircraft with unknown backlash in the actuator of control surfaces. Simulation results show that the proposed compensation scheme improves the tracking performance of systems with backlash.

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References

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  2. Adaptive Fuzzy Control for a Class of Nonlinear Discrete-Time Systems With Backlash vol.22, pp.5, 2014, https://doi.org/10.1109/TFUZZ.2013.2286837
  3. Interpretation and compensation of backlash error data in machine centers for intelligent predictive maintenance using ANNs vol.3, pp.2, 2015, https://doi.org/10.1007/s40436-015-0107-4
  4. Boundary Control Design for a Flexible Manipulator with Input Backlash * *This work was supported by the National Basic Research Program of China (973 Program) under Grant 2013CB733100, the National Natural Science Foundation of China under Grant 61522302, 6161101273, the Newton Advanced Fellowship from The Royal Society, UK, under Grant NA160436 the Beijing Natural Science Foundation under Grant 4172041, and the Fundamental Research Funds for the China Central Universities of USTB under Grant FRF-BD-16-005A and FRF-TP-15-005C1. vol.50, pp.1, 2017, https://doi.org/10.1016/j.ifacol.2017.08.1452