TITLE:
Adaptive Backstepping Compensation of Drives with Sandwiched Deadzone Nonlinearity
AUTHORS:
Nizar J. Alkhateeb, Hameed K. Ebraheem, Ebraheem K. Sultan, Bassam M. Alrahsed
KEYWORDS:
Sandwiched Deadzone, Adaptive Control, Nonlinearity, Lyapunov Stability
JOURNAL NAME:
Intelligent Control and Automation,
Vol.12 No.3,
July
29,
2021
ABSTRACT: In this paper, a nonlinear robust adaptive controller is proposed for gear transmission servo system (GTS) containing a sandwiched deadzone due to improper gear meshing. The controller is robust to dynamic uncertainties and can compensate the effect caused by the sandwiched nonlinearity which is separated from the control input through drive compliance. The proposed design methodology does not require an adaptive inverse deadzone function and does not require the knowledge of its parameter and only the knowledge of upper bounds is required.