Discontinuous H ∞ control of underactuated mechanical systems with friction and backlash
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.
KeywordsBacklash discontinuous H∞ control friction mechanical systems
Unable to display preview. Download preview PDF.
- V. Bagad, Mechatronics, Technical Publications, 2009.Google Scholar
- L. Aguilar, Y. Orlov, and L. Acho, “Nonlinear H ∞ tracking control of friction mechanical manipulator,” Proc. American Control Conference, pp. 268–272, 2002.Google Scholar
- O. Montano and Y. Orlov, “Discontinuous H ∞-control of mechanical manipulators with frictional joints,” 9th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE), pp. 1–6, 2012. [click]Google Scholar
- R. Rascón, J. Alvarez, and L. Aguilar, “Sliding mode control with H ∞ attenuator for unmatched disturbances in a mechanical system with friction and a force constraint,” 12th InternationalWorkshop on Variable Structure Systems (VSS), pp. 434–439, 2012. [click]Google Scholar
- R. Merzouki and N. M’Sirdi, “Compensation of friction and backlash effects in an electrical actuator,” J. Systems and Control Engineering, vol. 218, no. 2, pp. 75–84, 2004. [click]Google Scholar