Identification and adaptive position control of two mass systems with unknown backlash

Author

Mola, Mirhamed ; Khayatian, Alireza ; Dehghani, Mohammad

Author_Institution

Sch. of Electr. & Comput. Eng., Shiraz Univ., Shiraz, Iran

fYear

2013

fDate

14-16 May 2013

Firstpage

1

Lastpage

6

Abstract

This paper presents a novel method for identification and adaptive position control of two-mass mechanical systems with uncertain backlash hard nonlinearity and with unknown physical parameters. The Identification process consists of two cascade blocks. The first block is a linear in parameter model and the second block is an iterative algorithm for estimating physical parameters of the shaft. The adaptive controller is designed based on Lyapunov theory to control the position of the load. The simulation results on a sample two-mass system depict the effectiveness of the identification and control algorithms.

Keywords

Lyapunov methods; adaptive control; cascade systems; control nonlinearities; control system synthesis; identification; iterative methods; mechanical variables control; position control; uncertain systems; Lyapunov theory; adaptive position control; cascade blocks; identification method; iterative algorithm; load position control; shaft physical parameters; two-mass mechanical systems; uncertain backlash hard nonlinearity; unknown backlash; unknown physical parameters; Adaptation models; Load modeling; Mathematical model; Object recognition; Position control; Shafts; Torque; Two-mass system; adaptive control; backlash; identification; position control;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical Engineering (ICEE), 2013 21st Iranian Conference on

Conference_Location

Mashhad

Type

conf

DOI

10.1109/IranianCEE.2013.6599611

Filename

6599611