Title :
Backlash phenomenon observation and identification
Author :
Merzouki, R. ; Davila, J.A. ; Cadiou, J.C. ; Fridman, L.
Author_Institution :
LAGIS UMR CNRS 8146, Ecole Polytechnique de Lille, Villeneuve d´´Ascq
Abstract :
In this paper a second order sliding mode observer with finite time convergence is developed for an electromechanical system with backlash. As consequence of finite time convergence the sliding mode equivalent control is used to apply identification algorithms in order to characterize the backlash phenomenon. The dead zone amplitude and the disturbing torque are identified asymptotically. Simulation and experimental tests applied to an electromechanical actuator are given to support the theoretical development
Keywords :
control nonlinearities; convergence; electric actuators; identification; observers; variable structure systems; adaptive identification; backlash phenomenon identification; backlash phenomenon observation; dead zone amplitude; disturbing torque; electromechanical actuator; electromechanical system; finite time convergence; second order sliding mode observer; sliding mode equivalent control; Actuators; Convergence; DC motors; Electromechanical systems; Friction; Linear regression; Mechanical systems; Sliding mode control; Testing; Torque;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1657231
