Title :
H∞-based robust torque control of harmonic drive systems under free- and constrained-motion applications
Author :
Taghirad, H.D. ; Bélanger, P.R.
Abstract :
In this paper the torque control of a harmonic drive system for constrained-motion and free-motion applications is examined in detail. A nominal model for the system is obtained in each case from experimental frequency responses of the system, and the deviation of the system from the model is encapsulated by a multiplicative uncertainty. Robust torque controllers are designed using these information in an H∞ -framework, and implemented on two different setups. From time and frequency domain experiments, it is shown that the closed-loop system retains robust stability, while improving the tracking performance exceptionally well
Keywords :
H∞ control; closed loop systems; drives; frequency response; machine control; robust control; torque control; uncertain systems; H∞-based robust torque control; H∞-framework; closed-loop system; constrained-motion applications; experimental frequency responses; free-motion applications; frequency domain experiments; harmonic drive systems; multiplicative uncertainty; time domain experiments; tracking performance; DC motors; Damping; Frequency domain analysis; Friction; Gears; Manipulators; Robots; Robust control; Testing; Torque control;
Conference_Titel :
Control Applications, 1998. Proceedings of the 1998 IEEE International Conference on
Conference_Location :
Trieste
Print_ISBN :
0-7803-4104-X
DOI :
10.1109/CCA.1998.721606
