Robust tracking control of servo systems with backlash: Nonsmooth H<inf>∞</inf> control vs. linear H<inf>∞</inf> control

Israel U. Ponce; Yury Orlov; Luis T. Aguilar; Joaquin Alvarez

doi:10.1109/ACC.2015.7171035

Robust tracking control of servo systems with backlash: Nonsmooth H<inf>∞</inf> control vs. linear H<inf>∞</inf> control

Israel U. Ponce, Yury Orlov, Luis T. Aguilar, Joaquin Alvarez

Centro de Investigación y Desarrollo de Tecnología Digital (CITEDI)

Research output: Contribution to conference › Paper

Abstract

© 2015 American Automatic Control Council. Backlash and Coulomb friction occurring in systems with mechanical transmissions produce undesired inaccuracies, oscillations, and instability thereby degrading the system performance. In this paper, we made a comparative analysis of a nonsmooth H<inf>∞</inf> controller [1] vs. a linear H<inf>∞</inf> controller applied to a two-mass drive system with flexible shaft including backlash and Coulomb friction using measurements of the motor. The numerical results show the effectiveness of the nonsmooth H<inf>∞</inf> synthesis, whereas the linear H<inf>∞</inf>-controller does not attenuate the undesirable oscillations in the control signals and the plant outputs.

Original language	American English
Pages	2051-2056
Number of pages	1845
DOIs	https://doi.org/10.1109/ACC.2015.7171035
State	Published - 1 Jan 2015
Event	Proceedings of the American Control Conference - Duration: 28 Jul 2016 → …

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Conference	Proceedings of the American Control Conference
Period	28/07/16 → …

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10.1109/ACC.2015.7171035

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AB - © 2015 American Automatic Control Council. Backlash and Coulomb friction occurring in systems with mechanical transmissions produce undesired inaccuracies, oscillations, and instability thereby degrading the system performance. In this paper, we made a comparative analysis of a nonsmooth H∞ controller [1] vs. a linear H∞ controller applied to a two-mass drive system with flexible shaft including backlash and Coulomb friction using measurements of the motor. The numerical results show the effectiveness of the nonsmooth H∞ synthesis, whereas the linear H∞-controller does not attenuate the undesirable oscillations in the control signals and the plant outputs.

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Robust tracking control of servo systems with backlash: Nonsmooth H<inf>∞</inf> control vs. linear H<inf>∞</inf> control

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