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Journal of Shanghai Jiaotong University(Science) >

2026 , Vol. 31 >Issue 1: 106 - 116

DOI: https://doi.org/10.1007/s12204-025-2827-3

Intelligent Robots

Design of Composite Two-Channel Disturbance Estimation Adaptive Controller for Backlash-Like Hysteretic Nonlinear Systems

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  • 1. School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo 454003, Henan, China; 2. Henan International Joint Laboratory of Direct Drive and Control of Intelligent Equipment, Jiaozuo 454003, Henan, China; 3. School of Automation, Southeast University, Nanjing 210096, China; 4. College of Information and Systems, Muroran Institute of Technology, Muroran 050-8585, Hokkaido, Japan

Received date: 2024-11-01

  Accepted date: 2025-02-04

  Online published: 2026-02-12

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Abstract

For nonlinear systems with backlash-like hysteresis characteristics and external disturbance, a composite two-channel disturbance estimation adaptive controller is proposed to improve the trajectory tracking accuracy of the system. The unmodeled hysteresis and external disturbances are treated as lumped uncertainties, which are approximated by radial basis neural network and disturbance estimator respectively. These approximations are then linearly fused to form the compensation term for the lumped uncertainty. The second order linear filter is employed to estimate multiple differential terms, which are integrated into the controller design and dynamic system state updates, thereby reducing computational complexity. A weighted fusion mechanism is implemented for the two channels, and the adaptive update rate for each channel is determined based on the deviation between the lumped uncertainty reference value and the output of each channel. To address the challenges posed by the discontinuity of deviation and maintain system stability, the first-order low-pass filter is applied to smooth the deviation, enhancing system robustness. A trajectory tracking simulation of a single-input single-output nonlinear system is conducted to compare the performance of the proposed controller with baseline controllers, demonstrating the effectiveness of the composite two-channel disturbance estimation adaptive controller.

Cite this article

Liu Qunpo, Li Jiakun, Fei Shumin, Bo Xuhui, Naohiko Hanajima . Design of Composite Two-Channel Disturbance Estimation Adaptive Controller for Backlash-Like Hysteretic Nonlinear Systems[J]. Journal of Shanghai Jiaotong University(Science), 2026 , 31(1) : 106 -116 . DOI: 10.1007/s12204-025-2827-3

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