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In this paper, the tracking control for a mechanical system with friction and backlash is considered. Friction and backlash nonlinearities often act on the main obstacles for high precision control. Based on the LuGre friction model and the Backlash model, a robust adaptive control algorithm is developed to compensate for friction and backlash nonlinearities by using backstepping design techniques...
This paper focuses on the adaptive control of a class of nonlinear systems with unknown deadzone using neural networks. By constructing a deadzone pre-compensator, a neural adaptive control scheme is developed using backstepping design techniques. Transient performance is guaranteed and semi-globally uniformly ultimately bounded stability is obtained. Another feature of this scheme is that the neural...
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