|
Title:
|
H8 control design for mechanisms with backlash
|
|
Author:
|
Pujol Vázquez, Gisela; Ikhouane, Fayçal; Acho Zuppa, Leonardo
|
|
Other authors:
|
Universitat Politècnica de Catalunya. Departament de Matemàtica Aplicada III |
|
Abstract:
|
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. |
|
Publication date:
|
2012-05-11 |
|
Subject(s):
|
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 |
|
Rights:
|
Restricted access - publisher's policy |
|
Document type:
|
Conference Object |
|
Share:
|
|
