Abstract
This paper deals with the output tracking control of gear transmission servo (GTS) systems in the presence of deadzone nonlinearity with nonsymmetric beak points and unknown parameters. A novel differentiable deadzone model with nonsymmetric break points is put forward, which greatly facilitates the control design for a class of mechanical systems in the presence of deadzone nonlinearity. A new smooth backstepping controller, based on the newly-developed model, is proposed for the nominal system. Then, guaranteed robust steady-state performance of the closed-loop system with parametric uncertainties is derived by using Lyapunov analysis for the perturbed nonlinear systems. Simulations are carried out to validate the proposed algorithm and analysis in this paper.
| Original language | English |
|---|---|
| Pages (from-to) | 2580-2589 |
| Number of pages | 10 |
| Journal | Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science |
| Volume | 231 |
| Issue number | 14 |
| DOIs | |
| State | Published - 1 Jul 2017 |
Keywords
- Backlash
- backstepping control
- deadzone
- robust analysis
- transmission systems
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