Feedback control of systems with parasitic effects

Author

Friedland, Bernard

Author_Institution

New Jersey Inst. of Technol., Newark, NJ

Volume

2

fYear

1997

fDate

4-6 Jun 1997

Firstpage

937

Abstract

The state-dependent algebraic Riccati equation (SDARE) method is used for the design of control systems with the parasitic effects of friction and backlash. In the case of friction, the SDARE method results in treating the friction as an exogenous variable for which the linear quadratic control theory has already been developed. The effect of backlash is treated by representing the backlash nonlinearity by a two-level gain function, which leads to a control law that switches between two sets of gains. The performance of a hypothetical control system for a plant comprising a belt-driven robot arm was simulated and it was found that the proposed techniques promise considerably improvement in system performance

Keywords

Riccati equations; algebra; compensation; control system synthesis; feedback; friction; observers; robots; backlash; belt-driven robot arm; feedback control; friction; hypothetical control system; nonlinearity; parasitic effects; state-dependent algebraic Riccati equation method; two-level gain function; Belts; Control theory; Degradation; Feedback control; Friction; Mechanical systems; Riccati equations; Springs; System performance; Timing;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1997. Proceedings of the 1997

Conference_Location

Albuquerque, NM

ISSN

0743-1619

Print_ISBN

0-7803-3832-4

Type

conf

DOI

10.1109/ACC.1997.609664

Filename

609664