Title :
Compensation of backlash effects in an electrical actuator
Author :
Merzouki, R. ; Cadiou, J.C. ; M´Sirdi, N.K
Author_Institution :
Laboratoire de Robotique de Versailles, 10-12, avenue de l´Europe, 78140 Vélizy
Abstract :
We develop for systems with backlash a non linear observer, based on the estimation of the disturbed torque transmitted due the dead zone. Then we design an adaptive controller using this non linear observer in order to compensate the disturbed torque on line. Simulation and experimantal results applied on an elecrical actuator are given to support the theoretical demonstrations.
Keywords :
Adaptation models; Frequency modulation; Friction; Hysteresis; Mathematical model; Observers; Torque; Backlash effects; Transmitted torque; adaptive control; dead zone; electrical actuator;
Conference_Titel :
European Control Conference (ECC), 2003
Conference_Location :
Cambridge, UK
Print_ISBN :
978-3-9524173-7-9
