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This paper presents a global task coordinate frame (TCF) (GTCF)-based integrated direct/indirect adaptive robust contouring controller for linear-motor-driven biaxial systems that achieves both stringent contouring performance and accurate parameter estimations. In contrast to the past research works those use various locally defined TCFs “attached” to the desired contour to approximately calculate...
The recently proposed integrated direct/indirect adaptive robust controller (DIARC) for a class of nonlinear systems with unknown input dead-zones is combined with desired trajectory compensation to achieve asymptotic stability with excellent tracking performance. The algorithm is tested on a linear motor drive system preceded by a simulated non-symmetric dead-zone which is practically supposed to...
This paper presents an integrated direct/indirect adaptive robust control (DIARC) scheme for a class of nonlinear systems preceded by unknown non-symmetric, non-equal slope dead-zone nonlinearity. Due to the inherent nonlinear parametrizaton nature of the unknown dead-zone nonlinearity, existing robust adaptive control methods have been focusing on using various linearly parametrized models with on-line...
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