文章基本信息

标题：Sensorless Nonsmooth H ∞-Tracking Synthesis of Servosystems with Backlash and Coulomb Friction ∗
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作者：Israel U. Ponce ; Yury Orlov ; Luis T. Aguilar 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：11
页码：280-285
DOI：10.1016/j.ifacol.2015.09.198
语种：English
出版社：Elsevier
摘要：AbstractThe nonsmooth phenomena such as backlash and Coulomb friction, often occurring in mechanical systems, typically produce undesired inaccuracies, oscillations and instability thereby degrading the system performance. In this paper, the H∞synthesis is developed for a class of nonsmooth systems and it is then applied to an industrial emulator where the described phenomena are present, and an elastic band is included in the transmission motor-load, and only motor position measurements are feasible. The effectiveness of the proposed method is supported by experimental results.
关键词：KeywordsBacklashnonsmooth H∞-controlCoulomb frictionoutput-feedback