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)

Producción científica: Contribución a una conferencia › Artículo

Resumen

© 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.

Idioma original	Inglés estadounidense
Páginas	2051-2056
Número de páginas	1845
DOI	https://doi.org/10.1109/ACC.2015.7171035
Estado	Publicada - 1 ene. 2015
Evento	Proceedings of the American Control Conference - Duración: 28 jul. 2016 → …

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

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10.1109/ACC.2015.7171035

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abstract = "{\textcopyright} 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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N2 - © 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.

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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