Robust Control Design for Mechanisms with Backlash
نویسندگان
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
منابع مشابه
Backlash Vibration Suppression Control of Torsional System by Novel Fractional Order PID Controller
This paper proposes a novel fractional order PID controller for torsional system’s backlash vibration suppression control, in which the order k of D controller can not only be integer but also be any real number. Various methods have been proposed for two-inertia system’s speed control, but the control systems designed by these methods may not be able to suppress the vibration caused by gear ba...
متن کاملADAPTIVE FUZZY OUTPUT FEEDBACK TRACKING CONTROL FOR A CLASS OF NONLINEAR TIME-VARYING DELAY SYSTEMS WITH UNKNOWN BACKLASH-LIKE HYSTERESIS
This paper considers the problem of adaptive output feedback tracking control for a class of nonstrict-feedback nonlinear systems with unknown time-varying delays and unknown backlash-like hysteresis. Fuzzy logic systems are used to estimate the unknown nonlinear functions. Based on the Lyapunov–Krasovskii method, the control scheme is constructed by using the backstepping and adaptive techniqu...
متن کاملThe Application of Fractional Order Control to Backlash Vibration Suppression
This paper applies fractional order PID controller to torsional system’s backlash vibration suppression control, in which the order k of D controller can not only be integer but also be any real number. In order to improve control system’s robustness against backlash non-linearity, several methods have been proposed. However their design processes are very complicated. In this paper, a clear an...
متن کاملAdaptive Robust Control for a Class of Nonlinear Uncertain System with Unknown Input Backlash
An adaptive robust control (ARC) algorithm is developed for a class of nonlinear dynamic system with unknown input backlash, parametric uncertainties and uncertain disturbances. Due to the non-smooth dynamic nonlinear nature of backlash, existing robust adaptive control methods mainly focus on using approximate inversion of backlash by on-line parameter adaptation. But experimental results show...
متن کاملControlling Motors in the Presence of Friction and Backlash
Two of the most prevalent issues in controlling moving mechanisms are friction and backlash. These effects are present in nearly every mechanism that one may wish to control, and they have a serious negative impact on the control system designer’s ability to accurately control mechanism motion, yet often they can be eliminated only through heroic efforts on the part of mechanism designers. Thus...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2014