Backlash compensation for multivariable nonlinear systems with actuator dynamics

Author

Tao, Gang ; Ma, Xiaoli

Author_Institution

Dept. of Electr. Eng., Virginia Univ., Charlottesville, VA, USA

Volume

4

fYear

1999

fDate

6/21/1905 12:00:00 AM

Firstpage

3382

Abstract

A complete solution is proposed for control of multibody, multi-input and multi-output nonlinear systems with joint backlash, flexibility and damping, represented by a gun turret-barrel model which consists of two subsystems: two motors driving two loads (turret and barrel) coupled by nonlinear dynamics. The key feature of such systems is that the backlash is between two dynamic blocks. Optimal control schemes are employed for backlash compensation and nonlinear feedback control laws are used for control of nonlinear dynamics

Keywords

MIMO systems; actuators; compensation; damping; feedback; interconnected systems; multivariable control systems; nonlinear control systems; nonlinear dynamical systems; optimal control; weapons; actuator dynamics; backlash compensation; damping; dynamic blocks; flexibility; gun turret-barrel model; joint backlash; multibody MIMO nonlinear systems; multivariable nonlinear systems; nonlinear dynamics; nonlinear feedback control laws; optimal control schemes; Actuators; Adaptive control; Control nonlinearities; Control systems; Damping; Manipulators; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Optimal control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1999. Proceedings of the 38th IEEE Conference on

Conference_Location

Phoenix, AZ

ISSN

0191-2216

Print_ISBN

0-7803-5250-5

Type

conf

DOI

10.1109/CDC.1999.827795

Filename

827795