Nonlinear H-infinite-control synthesis is extended to an output regulation problem for a drive system with backlash. The problem in question is to design a feedback controller so as to obtain the closed-loop system in which all trajectories are bounded and the load of the driver is regulated to a desired position while also attenuating the influence of external disturbances. The motor position is assumed to be the only measurement available for feedback. Performance issues of the nonlinear H-infinite-output regulator are illustrated in a simulation study. A partial state stabilization around a desired load position is studied for a mechanical drive system with backlash. The nonlinear H-infinite-output regulator synthesis proposed is shown to be eminently suited to locally solve the stabilization problem in question. Effectiveness of the synthesis procedure is supported by the simulations made for an electrical actuator with a reducer installed in the Laboratoire de Robotique de Versailles.
Nonlinear H-infinity-output regulation of drive systems with backlash
Nichtlineare H-<sub>unendlich</sub>-Ausgangsregelung von Antriebssystemen mit Zahnflankenspiel
2004
6 Seiten
Aufsatz (Konferenz)
Datenträger
Englisch
BACKLASH CONTROL DEVICE AND BACKLASH CONTROL METHOD IN ELECTRIC MOTOR DRIVE SYSTEM
Europäisches Patentamt | 2020
|Zero-backlash drive helps satellites communicate
Tema Archiv | 1991
Drive train design of redundant-drive backlash-free robotic mechanisms
Online Contents | 2000
|