%0 Journal Article
%T Backlash compensation in servo systems based on adaptive Backstepping-control<br>基于反步自适应控制的伺服系统齿隙补偿
%A MA Yan-ling
%A HUANG Jin
%A ZHANG Dan
%A <br>马艳玲
%A 黄进
%A 张丹
%J 控制理论与应用
%D 2008
%I 
%X Backlash is one of the main factors causing deterioration in the overall performance of servo systems. To compensate the influence of backlash on the system, we proposed an adaptive Backstepping-control. The control laws based on state feedback are developed with Backstepping approach for selecting the appropriate Lyapunov function. The analysis and simulation results show that the proposed method greatly compensates the effects of backlash and improves the system tracking accuracy and robustness, in comparison with traditional PID control laws.
%K backlash compensation
%K Backstepping-integral adaptive control
%K servo system<br>齿隙补偿
%K 反步积分自适应控制
%K 伺服系统
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=D6AF9349ECE9D24E989CD8DA21E3B6C8&yid=67289AFF6305E306&vid=C5154311167311FE&iid=B31275AF3241DB2D&sid=602F518C16859E7D&eid=6B48C3DA6EA0194C&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=11