Discontinuous H _∞ control of underactuated mechanical systems with friction and backlash

详细信息    查看全文

• 作者：Raúl Rascón ; Joaquin Alvarez…
• 关键词：Backlash ; discontinuous H∞ control ; friction ; mechanical systems
• 刊名：International Journal of Control, Automation and Systems
• 出版年：2016
• 出版时间：October 2016
• 年：2016
• 卷：14
• 期：5
• 页码：1213-1222
• 全文大小：2,219 KB
• 刊物类别：Engineering
• 刊物主题：Control Engineering
  
• 出版者：The Institute of Control, Robotics and Systems Engineers and The Korean Institute of Electrical Engi
• ISSN：2005-4092
• 卷排序：14

文摘

Nonlinear H_∞-control is extended to discontinuous mechanical systems with degree of underactuation one, where nonlinear phenomena such as Coulomb friction and backlash are considered. The problem in question is to design a feedback controller via output measurements so as to obtain the closed-loop system in which all trajectories are locally ultimate bounded, and the underactuated link is regulated to a desired position while also attenuating the influence of external perturbations and nonlinear phenomena. It is considered that positions are the only measurements available for feedback in the system. Performance issues of the discontinuous H_∞-regulation controller are illustrated in an experimental study made for a rectilinear plant with friction modified to have a gap in the point of contact between bodies.