Nonsmooth H∞ synthesis of non-minimum-phase servo-systems with backlash

Israel U. Ponce; Yury Orlov; Luis T. Aguilar; Joaquín Álvarez

doi:10.1016/j.conengprac.2015.10.004

Nonsmooth H_∞ synthesis of non-minimum-phase servo-systems with backlash

Israel U. Ponce, Yury Orlov, Luis T. Aguilar, Joaquín Álvarez

Centro de Investigación y Desarrollo de Tecnología Digital (CITEDI)

Research output: Contribution to journal › Article › peer-review

14 Scopus citations

Abstract

The nonsmooth phenomena such as backlash and Coulomb friction, often occurring in mechanical systems, typically produce undesired inaccuracies, oscillations and instability thereby degrading the system performance. The present paper addresses these phenomena in a benchmark two-mass system composed of motor and load subsystems joined by an elastic shaft. Only partial measurements of the motor position are assumed to be available. The H∞ synthesis is then developed for a class of nonsmooth systems with backlash. The effectiveness of the proposed synthesis and its robustness features in the presence of friction forces and backlash effects are supported by an experimental study made for an industrial emulator.

Original language	English
Pages (from-to)	77-84
Number of pages	8
Journal	Control Engineering Practice
Volume	46
DOIs	https://doi.org/10.1016/j.conengprac.2015.10.004
State	Published - 1 Jan 2016

Keywords

Backlash
Nonsmooth H∞-control
Nonsmooth nonlinearities
Output-feedback

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10.1016/j.conengprac.2015.10.004

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title = "Nonsmooth H∞ synthesis of non-minimum-phase servo-systems with backlash",

abstract = "The nonsmooth phenomena such as backlash and Coulomb friction, often occurring in mechanical systems, typically produce undesired inaccuracies, oscillations and instability thereby degrading the system performance. The present paper addresses these phenomena in a benchmark two-mass system composed of motor and load subsystems joined by an elastic shaft. Only partial measurements of the motor position are assumed to be available. The H∞ synthesis is then developed for a class of nonsmooth systems with backlash. The effectiveness of the proposed synthesis and its robustness features in the presence of friction forces and backlash effects are supported by an experimental study made for an industrial emulator.",

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AU - Orlov, Yury

AU - Aguilar, Luis T.

AU - Álvarez, Joaquín

PY - 2016/1/1

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N2 - The nonsmooth phenomena such as backlash and Coulomb friction, often occurring in mechanical systems, typically produce undesired inaccuracies, oscillations and instability thereby degrading the system performance. The present paper addresses these phenomena in a benchmark two-mass system composed of motor and load subsystems joined by an elastic shaft. Only partial measurements of the motor position are assumed to be available. The H∞ synthesis is then developed for a class of nonsmooth systems with backlash. The effectiveness of the proposed synthesis and its robustness features in the presence of friction forces and backlash effects are supported by an experimental study made for an industrial emulator.

AB - The nonsmooth phenomena such as backlash and Coulomb friction, often occurring in mechanical systems, typically produce undesired inaccuracies, oscillations and instability thereby degrading the system performance. The present paper addresses these phenomena in a benchmark two-mass system composed of motor and load subsystems joined by an elastic shaft. Only partial measurements of the motor position are assumed to be available. The H∞ synthesis is then developed for a class of nonsmooth systems with backlash. The effectiveness of the proposed synthesis and its robustness features in the presence of friction forces and backlash effects are supported by an experimental study made for an industrial emulator.

KW - Backlash

KW - Nonsmooth H∞-control

KW - Nonsmooth nonlinearities

KW - Output-feedback

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VL - 46

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EP - 84

JO - Control Engineering Practice

JF - Control Engineering Practice

ER -

Nonsmooth H_∞ synthesis of non-minimum-phase servo-systems with backlash

Abstract

Keywords

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