Page 270 - Adaptive Identification and Control of Uncertain Systems with Nonsmooth Dynamics

Identification and Inverse Model Based Control of Uncertain Systems With Backlash 271

Figure 17.5 Comparison with the methods in literature [13].

Figure 17.6 Comparison with the methods in literature [14].

and 17.6. In the output tracking profiles shown in Fig. 17.5,the solidlineis
the desired trajectory, the dotted line and dash line are the tracking control
performance of the control method reported in this chapter and the control
method reported in [13], respectively. The corresponding tracking errors
are also shown in Fig. 17.5. It can be seen that the proposed control with
identified inverse model compensation can achieve better control response
than that of [13]. A similar conclusion can be drawn from Fig. 17.6,where
the control output profiles and the tracking errors of the proposed control
and that of the control method reported in [14]are provided.Fromthese
simulation results, we can conclude that the proposed identification method
based on DPPR can reconstruct the dynamics of backlash as well as the
linear part very well, which in turn helps achieve better control response