Switched chattering control of electrical servo-motors and backlash/friction attenuation

Author

Orlov, Y. ; Aguilar, L. ; Cadiou, J.C.

Author_Institution

Dept. of Electron. & Telecommun., CICESE Res. Center, San Diego, CA, USA

Volume

4

fYear

2003

fDate

20-22 Aug. 2003

Firstpage

1336

Abstract

A switched control algorithm is developed to globally stabilize an electrical servo-motor operating under uncertainty conditions in the presence of complex nonlinear phenomena such as backlash, stick-slip motion, etc. Particularly, the chattering controller ensures robustness against external disturbances with the a priori known norm bounds, thus rejecting the influence of undesired backlash/friction effects on the motor. Stability analysis, given within the Lyapunov functions framework extended to discontinuous dynamic systems, additionally reveals a finite time convergence of the system trajectories to the equilibrium point. Performance issues of the controller are illustrated in a simulation study.

Keywords

Lyapunov methods; electric motors; friction; machine control; mechanical variables control; nonlinear control systems; servomotors; stability; Lyapunov functions framework; a priori known norm bounds; backlash attenuation; chattering controller; complex nonlinear phenomena; discontinuous dynamic systems; electrical servo-motors; equilibrium point; finite time convergence; friction attenuation; robustness; stability analysis; stick-slip motion; switched chattering control; switched control algorithm; system trajectories; Attenuation; Convergence; Friction; Lyapunov method; Motion control; Nonlinear dynamical systems; Robust control; Servomotors; Stability analysis; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Physics and Control, 2003. Proceedings. 2003 International Conference

Print_ISBN

0-7803-7939-X

Type

conf

DOI

10.1109/PHYCON.2003.1237101

Filename

1237101