Author(s)

Nizar J. Alkhateeb^*, Hameed K. Ebraheem, Ebraheem K. Sultan, Bassam M. Alrahsed

Department of Electronic Engineering Technology, College of Technological Studies, Public Authority of Applied Education and Training (PAAET), Shuwaikh, Kuwait.

In this paper, a nonlinear robust adaptive controller is proposed for gear transmission servo system (GTS) containing a sandwiched deadzone due to improper gear meshing. The controller is robust to dynamic uncertainties and can compensate the effect caused by the sandwiched nonlinearity which is separated from the control input through drive compliance. The proposed design methodology does not require an adaptive inverse deadzone function and does not require the knowledge of its parameter and only the knowledge of upper bounds is required.

Sandwiched Deadzone, Adaptive Control, Nonlinearity, Lyapunov Stability

Alkhateeb, N. , Ebraheem, H. , Sultan, E. and Alrahsed, B. (2021) Adaptive Backstepping Compensation of Drives with Sandwiched Deadzone Nonlinearity. Intelligent Control and Automation, 12, 73-89. doi: 10.4236/ica.2021.123005.