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Wang Xingsong
Department of Mechanical
Engineering,
Southeast University,
Nanjing 210096, China
Hong Henry
Su Chunyi
Department of Mechanical Engineering,
Concordia University,
Montreal, Quebec, H3G 1M8, Canada
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ADAPTIVE CONTROL OF FLEXIBLE BEAM WITH UNKNOWN DEAD-ZONE IN THE
DRIVING MOTOR*
Abstract: Adaptive control of a flexible beam system preceded by an unknown dead-zone in the driving motor is investigated in state space form. By introducing an important lemma for simplifying error equation between the flexible beam model and the matching reference model, a robust adaptive control scheme is developed by involving the dead-zone inverse terms. The new adaptive control law ensures global stability of the entire system and achieves desired tracking precision even when the slopes of the dead-zone are not equal. Simulations performed on a typical flexible beam system illustrate and clarify the validity of this approach.
Key words:
Adaptive control Flexible beam Dead-zone |