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The control of systems with uncertain nonlinear dynamics has been a decades-long mainstream area of focus. The general trend for previous control strategies developed for uncertain nonlinear systems is that the more unstructured the system uncertainty, the more control effort (i.e., high gain or high-frequency feedback) is required to cope with the uncertainty, and the resulting stability and performance...
An adaptive fuzzy backstepping controller is proposed for rotor angle position control for an AC servo motor with the non-uniform LuGre friction model in the presence of parameter uncertainties. A compensation controller is also employed to estimate the bound of approximation error so that the shattering effect of the control effort can be reduced. Thus the asymptotic stability of the closed loop...
This paper addresses the backstepping control of hydraulic manipulators with friction compensation. A third-order nonlinear dynamic model is used for the controller design while LuGre dynamic friction model with non-uniform friction force variations characterizes the friction forces. The controller is augmented with adaptation laws to compensate for parametric uncertainties in the system dynamics...
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