Abstract. In this paper, we focus on the development of an adaptive control scheme for systems with unknown backlash. More specifically, we propose a discretetime adaptive backlash inverse based controller for plants that have a known linear part and an unknown backlash at its input. We also demonstrate that the harmful effects of backlash can be cancelled by adding two control blocks. These blocks are the following: an adaptive backlash inverse structure and an adaptive linear filter controller. The latter block provides a new adaptive law for the updating of the backlash parameters. We show by simulations that our adaptive control approach improves the system performance once the difference between the backlash output and the adaptive backlash inverse input, converges to a very small value. The simulations involve a third order system that highlights the efficiency of the proposed adaptive control approach.
O projeto propõe a elaboração de um robô seguidor de linha utilizando Arduino Uno desde as etapas primordiais, como o desenvolvimento e construção do chassi que dá base ao robô e a elaboração da parte mecânica e eletrônica dele, além do desenvolvimento da programação que permite o funcionamento do seguidor de linha.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.