Abstract
This paper deals with the compensation of backlash with backlash parameters unknown and bounded disturbances including hinge moment disturbances, parameters drifts and model errors in missile servo control system. An adaptive smooth backlash inverse model is introduced to reduce the influence of the backlash. In order to ensure the convergence of dynamic parameters estimations and global stability of the closed loop control system, a robust adaptive backstepping approach is proposed. Simulation results show that the proposed controller can guarantee stability and transient performance for both parametric uncertainties and disturbances. The robust adaptive control algorithm significantly improves the system’s tracking accuracy and has good robustness and stability to disturbances and parameters variations.
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