Backstepping Control of Systems with Backlash Nonlinearity
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In this chapter, we consider uncertain dynamic systems preceded by unknown backlash nonlinearity. By using backstepping technique, new schemes for both state feedback and output feedback are proposed. Besides showing global stability of the system, the transient performance in terms of L2 norm of the tracking error is derived to be an explicit function of design parameters. For output feedback control we develop a new scheme for a class of uncertain linear systems preceded by unknown backlash nonlinearities. The controller designed by using backstepping technique consists of a new robust control law and a new estimator to estimate the unknown parameters. The result is also extended to nonlinear systems.
KeywordsTracking Error State Feedback Control Output Feedback Control Transient Performance Adaptive Control Scheme
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