Sensorless Nonsmooth H∞-Tracking Synthesis of Servosystems with Backlash and Coulomb Friction∗. Issue 11 (2015)

• Record Type: Journal Article
• Authors: Ponce, Israel U.; Orlov, Yury; Aguilar, Luis T.; Alvarez, Joaquin
• Is Part Of: IFAC-PapersOnLine. Volume 48:Issue 11(2015)
• Page Start: 280
• Page End: 285
• Publication Date: 2015
• Subjects: Backlash -- nonsmooth H∞-control -- Coulomb friction -- output-feedback; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2015.09.198
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: The nonsmooth phenomena such as backlash and Coulomb friction, often occurring in mechanical systems, typically produce undesired inaccuracies, oscillations and instability thereby degrading the system performance. In this paper, the H∞ synthesis is developed for a class of nonsmooth systems and it is then applied to an industrial emulator where the described phenomena are present, and an elastic band is included in the transmission motor-load, and only motor position measurements are feasible. The effectiveness of the proposed method is supported by experimental results.