Identification of nonlinear dynamic systems with input saturation and output backlash using three-block cascade models

Vörös, Jozef

doi:10.1016/j.jfranklin.2014.09.025

Cited by 55 publications

(23 citation statements)

References 38 publications

(39 reference statements)

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“…This extends the results from [19] and enables the identification of systems including noninvertible input characteristics. The previous results on the decomposition of compound operators using the so-called key term separation principle are applied with the aim to simplify the mathematical description of this complex system.…”

Section: Introductionsupporting

confidence: 66%

“…, n L , v(t), x(t), g 1 (t) and g 2 (t) are not available and must be estimated, an iterative parameter estimation process has to be considered. The techniques presented in [18][19][20], which are based on the use of the preceding estimates of model parameters for the estimation of internal variables and vice-versa, can be easily extended to this three-block model. We replace the internal variables in (16) by their estimates defined as …”

Section: Parameter Estimationmentioning

confidence: 99%

“…. , n L , s v(t), s x(t), s g 1 (t), s g 2 (t) and the corrected output s y c (t) are computed using (19)- (25) with the recent estimates of corresponding parameters and the estimates of s ϕ(t) are evaluated.…”

Section: Parameter Estimationmentioning

confidence: 99%

“…However, in some cases of more complex nonlinear dynamic systems with input nonlinearities, the two-block cascade model may be not precise enough and it is appropriate to choose a three-block cascade model with combination of nonlinear static, linear dynamic, and nonlinear dynamic blocks [19]. It means, compared to the well-known structure of Hammerstein-Wiener model, see eg [20][21][22][23], that the input block contains static nonlinearities while the output block is describing assumed dynamic nonlinearities, eg, backlash or hysteresis.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Identification of Nonlinear Cascade Systems with Noninvertible Piecewise Linear Input and Backlash Output Nonlinearities

Vörös

2016

Journal of Electrical Engineering

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The paper deals with the parameter identification of cascade nonlinear dynamic systems with noninvertible piecewise linear input nonlinearities and backlash output nonlinearities. Application of the key term separation principle provides special expressions for the corresponding nonlinear model description that are linear in parameters. A least squares based iterative technique allows estimation of all the model parameters based on measured input/output data. Simulation studies illustrate the feasibility of proposed identification method.K e y w o r d s: nonlinear systems, parameter estimation, least-squares, piecewise linear function, backlash

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Section: Introductionsupporting

confidence: 66%

Section: Parameter Estimationmentioning

confidence: 99%

Section: Parameter Estimationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Identification of Nonlinear Cascade Systems with Noninvertible Piecewise Linear Input and Backlash Output Nonlinearities

Vörös

2016

Journal of Electrical Engineering

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“…In recent years, backlash nonlinearity compensation strategies have also been studied by many scholars. Jozef [16] adopted a three-block cascade model to identify the parameters of nonlinear dynamic systems with input saturation and output backlash. In [17], aiming at a class of periodically time-varying systems with input backlash, an adaptive controller is designed.…”

Section: Introductionmentioning

confidence: 99%

Improved Backstepping Adaptive Control of Dual-motor Driving Servo System with Backlash Based on Fuzzy Parameter Approximation

Zhao¹,

Wang²

2016

Open Cyber

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Aiming at the control problem of dual-motor driving servo system with backlash nonlinearity, a model for the system is introduced. Two adaptive fuzzy systems were used to approximate the nonlinear part and unknown parameters in system online, to avoid the complex calculation in deducing the adaptive law of each unknown parameter. By using improved backstepping approach and recursively selecting the Lyapunov function, introducing the virtual control quantity and the integration of position tracking error, an adaptive fuzzy controller with state feedback was designed, and its stability was analyzed. System response analysis and system robustness analysis were considered in simulation test for comparing the improved backstepping control with conventional backstepping control. Simulation results show that the improved backstepping control has better position tracking performance and robustness than conventional backstepping control. Finally, experimental analysis also validates the effectiveness and efficiency of the proposed control strategy.

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Sliding mode control for underactuated system with input constraint based on RBF neural network and Hurwitz stability analysis

Liu

2021

Asian Journal of Control

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The sliding mode control method is proposed for a class of underactuated systems with input constraint in this paper. The properties of hyperbolic tangent function are used to deal with input constraint. Furthermore, a radial basis function (RBF) neural network is adopted to achieve the approximation of the unknown function and the projection mapping operator is used to further guarantee the bounded approximation. The control law is designed by using the Lyapunov's direct method, and the stability is conducted by using Hurwitz stability analysis. In the simulation part, two examples are listed, including a simple underactuated system and an underactuated inverted pendulum system, which can all be transformed into the model style studied in this paper to illustrate the effectiveness of the proposed control law. At last, the conclusion is summarized.

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Identification of nonlinear dynamic systems with input saturation and output backlash using three-block cascade models

Cited by 55 publications

References 38 publications

Identification of Nonlinear Cascade Systems with Noninvertible Piecewise Linear Input and Backlash Output Nonlinearities

Identification of Nonlinear Cascade Systems with Noninvertible Piecewise Linear Input and Backlash Output Nonlinearities

Improved Backstepping Adaptive Control of Dual-motor Driving Servo System with Backlash Based on Fuzzy Parameter Approximation

Sliding mode control for underactuated system with input constraint based on RBF neural network and Hurwitz stability analysis

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