Backstepping position control of two-mass systems with unknown backlash

This paper presents a backstepping control strategy to control the load position of two-mass systems with unknown backlash. The measurable signals for applying this nonlinear control law are assumed to be available from motor and load sides. For achieving the desired control goals, a precontrol block is designed too. This block which is fed by motor and load measurable signals, drives the required signals for executing the nonlinear backstepping control law. The simulation results on a sample two-mass system illustrate the effectiveness of the proposed algorithm.

[1]  Mattias Nordin,et al.  Controlling mechanical systems with backlash - a survey , 2002, Autom..

[2]  G. Brandenburg,et al.  Influence and adaptive compensation of simultaneously acting backlash and coulomb friction in elastic two-mass systems of robots and machine tools , 1989, Proceedings. ICCON IEEE International Conference on Control and Applications.

[3]  E. A. Freeman.  The effect of speed-dependent friction and backlash on the stability of automatic control systems , 1959, Transactions of the American Institute of Electrical Engineers, Part II: Applications and Industry.

[4]  Shaheen Ahmad,et al.  Second order nonlinear kinematic effects, and their compensation , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[5]  Bernard Friedland,et al.  Feedback control of systems with parasitic effects , 1997, Proceedings of the 1997 American Control Conference (Cat. No.97CH36041).

[6]  Mattias Nordin.  Nonlinear backlash compensation for speed controlled elastic systems , 2000 .

[7]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[8]  Hisato Kobayashi,et al.  Calibration of Servo System with Redundant Actuators , 1996 .

[9]  Per-Olof Gutman,et al.  Quantitative design of a class of nonlinear systems with parameter uncertainty , 1994 .

[10]  Oded Yaniv,et al.  Reduction of Limit Cycle Amplitude in the Presence of Backlash , 1999 .

[11]  J. A. Tenreiro Machado,et al.  Variable Structure Control of Systems with Nonlinear Friction and Dynamic Backlash , 1996 .