Title :
On the control of mechanical systems with dynamic backlash
Author :
Mata-Jiménez, M.T. ; Brogliato, B. ; Goswami, A.
Author_Institution :
CNRS, Domaine Univ., France
Abstract :
The focus of this work is the analysis and control of a simple rigid body mechanical system with dynamic backlash. Contrary to most of the existing work in the control literature we explicitly treat all the dynamic and nonlinear characteristics of this system. A desired symmetric periodic orbit locally stable is generated by a PD control scheme. In order to enlarge the basin of attraction of this orbit we propose the use of a hybrid control in addition to the PD control. This work finds potential application in several areas including the control of kinematic chains with joint clearance and vibro-impact systems
Keywords :
mechanical engineering; nonlinear dynamical systems; periodic control; stability; two-term control; PD control scheme; dynamic backlash; dynamic characteristics; hybrid control; joint clearance; kinematic chains; locally stable symmetric periodic orbit; mechanical system control; nonlinear characteristics; simple rigid body mechanical system; vibro-impact systems; Automatic control; Control system analysis; Control systems; Damping; Gears; Mechanical systems; Nonlinear control systems; Nonlinear dynamical systems; PD control; Shock absorbers;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.657894
