Title :
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
fDate :
6/21/1905 12:00:00 AM
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;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.827795
