• DocumentCode
    702224
  • Title

    Compensation of backlash effects in an electrical actuator

  • Author

    Merzouki, R. ; Cadiou, J.C. ; M´Sirdi, N.K

  • Author_Institution
    Laboratoire de Robotique de Versailles, 10-12, avenue de l´Europe, 78140 Vélizy
  • fYear
    2003
  • fDate
    1-4 Sept. 2003
  • Firstpage
    2511
  • Lastpage
    2516
  • Abstract
    We develop for systems with backlash a non linear observer, based on the estimation of the disturbed torque transmitted due the dead zone. Then we design an adaptive controller using this non linear observer in order to compensate the disturbed torque on line. Simulation and experimantal results applied on an elecrical actuator are given to support the theoretical demonstrations.
  • Keywords
    Adaptation models; Frequency modulation; Friction; Hysteresis; Mathematical model; Observers; Torque; Backlash effects; Transmitted torque; adaptive control; dead zone; electrical actuator;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    European Control Conference (ECC), 2003
  • Conference_Location
    Cambridge, UK
  • Print_ISBN
    978-3-9524173-7-9
  • Type

    conf

  • Filename
    7085343
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=702224