Control for Servo System with Multiple Actuation

This paper describes a control law for multiple actuation servo systems. Multiple actuation systems lave an ability to solve some difficult engineering problems: backlash, Coulomb friction and disturbance. the proposed control strategy remarkably improves the performance comparing with conventional single actuation systems. The experimental system demonstrates high precision and high robustness against iisturbances in spite of heavy gear backlash, Coulomb friction, and sensor dead-zone.