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An observer-based adaptive control scheme for piezoelectric actuators is proposed. In the developed method the classical Duhem model is adopted to describe the hysteresis exhibited in the piezoelectric actuators. Due to the unavailability of the hysteresis output, an observer-based adaptive controller, with incorporation of a pre-inversion neural network compensator for the purpose of mitigating the...
In this paper, a robust adaptive observer for joint state-parameter estimations has been designed for systems with unknown disturbances. By integrating the unknown input observer (UIO), a disturbance decoupled estimation of both states and parameters is achieved. An auxiliary input is added to the UIO in coping with the estimation errors so that the exponential stability and convergence are guaranteed...
In this paper, a novel sliding-mode observer based adaptive controller is developed for the servo actuators with friction. The LuGre dynamic friction model is adopted for adaptive friction compensation. A sliding-mode observer is proposed to estimate the internal friction state of LuGre model. Based on the estimated friction state, adaptation laws are designed to compensate the unknown friction and...
In this paper, a novel sliding-mode-observer-based adaptive controller is developed for the servo actuators with friction. The LuGre dynamic friction model is adopted for adaptive friction compensation. A sliding-mode observer is proposed to estimate the internal friction state of LuGre model. Based on the estimated friction state, adaptation laws are designed to compensate the unknown friction and...
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