Nonlinear H-Output Regulation of a Nonminimum Phase Servomechanism With Backlash

[+] Author and Article Information
L. T. Aguilar1

Instituto Politécnico Nacional,  Centro de Investigación y Desarrollo de Tecnología Digital, 2498 Roll Dr. 757, Otay Mesa, San Diego, CA 92154luis.aguilar@ieee.org

Y. Orlov

Electronics and Telecommunication Department,  CICESE Research Center, P.O. Box 434944, San Ysidro, CA 92143-4944yorlov@cicese.mx

J. C. Cadiou

 Laboratoire de Robotique de Versailles, 10-12, Avenue de l’Europe, 78140 Vélizy, Francecadiou@robot.uvsq.fr

R. Merzouki

 Ecole Polytechnique de Lille, 59655 Villeneuve d’Ascq, FranceRochdi.Merzouki@polytech-lille.fr


Corresponding author.

J. Dyn. Sys., Meas., Control 129(4), 544-549 (Nov 21, 2006) (6 pages) doi:10.1115/1.2719774 History: Received November 26, 2004; Revised November 21, 2006

Nonlinear H control synthesis is extended to an output regulation problem for a servomechanism with backlash. The problem in question is to design a feedback controller so as to obtain the closed-loop system in which all trajectories are bounded and the load of the driver is regulated to a desired position while also attenuating the influence of external disturbances. Provided the servomotor position is the only measurement available for feedback, the proposed extension is far from trivial because of nonminimum phase properties of the system. Performance issues of the nonlinear H-output regulator constructed are illustrated in an experimental study.

Copyright © 2007 by American Society of Mechanical Engineers
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Figure 1

(a) The dead-zone model of backlash and (b) the monotonic approximation of the dead-zone model

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Figure 2

Experimental test bench

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Figure 3

Backlash hysteresis before compensation

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Figure 4

Transmitted torque, computed from the experiment (solid line), and the modeled one (dotted line)

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Figure 5

Experimental results for H∞ regulator considering only motor position information available for feedback

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Figure 6

Experimental results for the H∞ regulator considering only motor position information available for feedback: Perturbed case



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