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Sliding model control based on Ackermann’s
Formula for systems with backlash-like hysteresis
Zhang
Dake
(Automation Engineering R&M Center,
Guangdong Academy of Sciences, Guangzhou 510070)
Hu
Yueming
(College of Automation, South China
University of Technology, Guangzhou 510640)
Guo
Huafang
(Automation Engineering R&M Center,
Guangdong Academy of Sciences, Guangzhou 510070)
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Abstract: Hysteresis widely exits in many mechanical control fields.
It makes the control for systems with hysteresis difficult and complex,
since hysteresis is non-differential. It is necessary to study the
effective control of system with hysteresis since hysteresis brings the
oscillation, and even instability to the systems. The subject of study
focuses on the system with backlash-like hysteresis for the modeling of
the systems with hysteresis is still been researching. Model of
backlash-like hysteresis is first divided into two parts-certain linear
one and uncertain but known-limit nonlinear one, and then a sliding
control based on Ackermann’s formula for the kind of systems is
presented. The result of simulation shows the control is effective. The
control also guarantees the stability of the whole system.
Key words: Backlash-like hysteresis Sliding model control
Ackermann’s formula
CLC No: TP1
中国博士后科学基金(中博基2002-17)和国家863/CIMS主题(2001AA411330)资助项目.
Received 20040322, received in revised form 20040820
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