Numerical design and analysis of backlash compensation for a multivariable nonlinear tracking system

Author

Ling, Yz ; Tao, Gang

Author_Institution

Dept. of Electr. Eng., Virginia Univ., Charlottesville, VA, USA

Volume

5

fYear

1999

fDate

1999

Firstpage

3539

Abstract

A numerical solution is developed for control of multi-body, MIMO nonlinear systems with joint backlash, represented by a gun turret-barrel model. An optimal control scheme is derived for backlash compensation. To solve the resulting nonlinear equations for boundary conditions and terminal time, an iterative solution is designed based on a trapezoidal algorithm and Newton´s algorithm, and its convergence and computational error are analyzed

Keywords

MIMO systems; Newton method; compensation; control system analysis; control system synthesis; error analysis; nonlinear systems; optimal control; tracking; weapons; MIMO systems; Newton algorithm; backlash compensation; boundary conditions; convergence; error analysis; gun turret-barrel; iterative method; multivariable system; nonlinear system; optimal control; tracking system; trapezoidal algorithm; Algorithm design and analysis; Control systems; Damping; Feedback; Gears; Iterative algorithms; Manipulator dynamics; Nonlinear control systems; Optimal control; Teeth;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1999. Proceedings of the 1999

Conference_Location

San Diego, CA

ISSN

0743-1619

Print_ISBN

0-7803-4990-3

Type

conf

DOI

10.1109/ACC.1999.782425

Filename

782425