On the control of mechanical systems with dynamic backlash

Mata-Jimenez, Marco Tulio; Brogliato, Bernard; Goswami, Ambarish

doi:10.1109/cdc.1997.657894

Cited by 14 publications

(10 citation statements)

References 6 publications

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“…Theorem 6. For system (7), if the controllers are designed as (9) and (14), then the system will converge in finite-time. And the settling time is given by (21).…”

Section: Design Of the Controlmentioning

confidence: 99%

“…The noncontinuous transfer relationship caused by the backlash can be described from different perspectives. A number of mathematical models have been presented, such as hysteresis model [6,7], deadzone model [8], and impact-damper model [9]. The hysteresis model describes the relationship between the output angle of backlash and the input angle under the assumption that the shaft is stiff [10].…”

Section: Introductionmentioning

confidence: 99%

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Chattering-Free Sliding-Mode Control for Electromechanical Actuator with Backlash Nonlinearity

Hui

2017

Journal of Electrical and Computer Engineering

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Considering the backlash nonlinearity and parameter time-varying characteristics in electromechanical actuators, a chattering-free sliding-mode control strategy is proposed in this paper to regulate the rudder angle and suppress unknown external disturbances. Different from most existing backlash compensation methods, a special continuous function is addressed to approximate the backlash nonlinear dead-zone model. Regarding the approximation error, unmodeled dynamics, and unknown external disturbances as a disturbance-like term, a strict feedback nonlinear model is established. Based on this nonlinear model, a chattering-free nonsingular terminal sliding-mode controller is proposed to achieve the rudder angle tracking with a chattering elimination and tracking dynamic performance improvement. A Lyapunov-based proof ensures the asymptotic stability and finite-time convergence of the closed-loop system. Experimental results have verified the effectiveness of the proposed method.

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“…Theorem 6. For system (7), if the controllers are designed as (9) and (14), then the system will converge in finite-time. And the settling time is given by (21).…”

Section: Design Of the Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Chattering-Free Sliding-Mode Control for Electromechanical Actuator with Backlash Nonlinearity

Hui

2017

Journal of Electrical and Computer Engineering

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“…Backlash is observed not only in antennas and telescopes [29,30], but also in precision instruments [20][21][22][23], and robots [24,25]. Often, to reduce backlash impact on the closed-loop precision, anti-backlash controllers are designed [9,13,26].…”

Section: Backlashmentioning

confidence: 99%

Modeling and Control of Antennas and Telescopes

Gawroński

2008

Mechanical Engineering Series

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“…Therefore, it is necessary to compensate the transmission backlash for high-precision transmission system. Currently there are two major categories of compensation methods [1]: one is based on intelligent control and the other is based on the backlash model [2][3][4]. The compensation of intelligent control, such as neural network or fuzzy control, is achieved by the thought of "closed loop" control.…”

Section: Introductionmentioning

confidence: 99%

Study of on-line backlash identification for PMSM servo system

Yang

Tang

Tan

et al. 2012

IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society

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Servo driver can greatly reduce the harm of backlash if it owns the function of identifying backlash automatically. Aiming at the problem of backlash identification in servo drive system, the automatic identification schemes on servo driver are reviewed. Based on the dead-zone model of backlash, five different identification methods are summed up. Each implementation process is analyzed specifically, mainly interpreting assumptions, hardware requirements and the problems that will be encountered in practice. The accuracy of theoretical analysis of various solutions is verified by simulation experiment. With the comparison of those simulation results, the speed difference integral method that needs few additional conditions and simple operations can obtain the accurate identification result just by a position sensor in servo motor side.So it is feasible strongly and is the best identification scheme, and the experimental result also proves it.

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On the control of mechanical systems with dynamic backlash

Cited by 14 publications

References 6 publications

Chattering-Free Sliding-Mode Control for Electromechanical Actuator with Backlash Nonlinearity

Chattering-Free Sliding-Mode Control for Electromechanical Actuator with Backlash Nonlinearity

Modeling and Control of Antennas and Telescopes

Study of on-line backlash identification for PMSM servo system

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