Title :
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
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;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.782425
