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H8 control design for mechanisms with backlash
Pujol Vázquez, Gisela; Ikhouane, Fayçal; Acho Zuppa, Leonardo
Universitat Politècnica de Catalunya. Departament de Matemàtica Aplicada III; Universitat Politècnica de Catalunya. CODALAB - Control, Dinàmica i Aplicacions
An H∞ output feedback control design is presented for mechanisms with backlash, under the presence of external perturbation. Using the static dead-zone model as a simplermodel for backlash, the non-linear problem is cast in linear H∞ framework, seeing the backlash effect as a bounded disturbance in the extended L2 space (L2e). Experimentalrealization in an industrial emulator with backlash is carried out, evidencing an acceptable performance of the controllersubject to external perturbation.
Postprint (published version)
Àrees temàtiques de la UPC::Matemàtiques i estadística
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
Nonlinear control theory
Robust control
Control no lineal, Teoria de
Control automàtic
Classificació AMS::93 Systems Theory; Control
Restricted access - publisher's policy
Conference Object

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