Robust Control Design for Mechanisms with Backlash

نویسندگان

  • Leonardo Acho
  • Fayçal Ikhouane
  • Gisela Pujo
چکیده

A robust feedback control is designed for mechanisms with backlash, where regulation problem is solved under the presence of external perturbation. Appealing the static deadzone model as a model for backlash, the nonlinear problem is posted in linear HH∞ framework. Experimental realization in an industrial emulator with backlash is carried out, evidencing an acceptable performance. Keywords– Backlash Compensation; Robust Control; Mechanical Systems; Industrial Emulator

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تاریخ انتشار 2014