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.


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    Title :

    Nonlinear H-infinity-output regulation of drive systems with backlash


    Additional title:

    Nichtlineare H-<sub>unendlich</sub>-Ausgangsregelung von Antriebssystemen mit Zahnflankenspiel


    Contributors:
    Aguilar, Luis (author) / Orlov, Yuri (author) / Cadiou, J.C. (author) / Merzouki, R. (author)


    Publication date :

    2004


    Size :

    6 Seiten


    Type of media :

    Conference paper


    Type of material :

    Storage medium


    Language :

    English




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