Title :
Robust tracking control of servo systems with backlash: Nonsmooth ℋ∞ control vs. linear ℋ∞ control
Author :
Ponce, Israel U. ; Orlov, Yury ; Aguilar, Luis T. ; Alvarez, Joaquin
Author_Institution :
Dept. of Electron. & Telecommun, CICESE Res. Center, Ensenada, Mexico
Abstract :
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.
Keywords :
H∞ control; control system synthesis; drives; friction; linear systems; power transmission (mechanical); robust control; servomechanisms; shafts; Coulomb friction; backlash; flexible shaft; linear ℋ∞ controller; mechanical transmissions; motor measurements; nonsmooth ℋ∞ controller; nonsmooth ℋ∞ synthesis; robust tracking control; servo systems; system performance; two-mass drive system; Friction; Oscillators; Output feedback; Position measurement; Standards; Torque; Trajectory;
Conference_Titel :
American Control Conference (ACC), 2015
Conference_Location :
Chicago, IL
Print_ISBN :
978-1-4799-8685-9
DOI :
10.1109/ACC.2015.7171035
