You are in:Home/Publications/Azar AT and Serrano FE (2015). Stabilization and Control of Mechanical Systems with Backlash. In: A.T Azar, S. Vaidyanathan (eds.), Advanced Intelligent Control Engineering and Automation, Advances in Computational Intelligence and Robotics (ACIR) Book Series, IGI-Global, USA.

Dr. Assoc. Prof. Ahmad Taher Azar :: Publications:

Title:
Azar AT and Serrano FE (2015). Stabilization and Control of Mechanical Systems with Backlash. In: A.T Azar, S. Vaidyanathan (eds.), Advanced Intelligent Control Engineering and Automation, Advances in Computational Intelligence and Robotics (ACIR) Book Series, IGI-Global, USA.
Authors: Not Available
Year: 2015
Keywords: Not Available
Journal: Not Available
Volume: Not Available
Issue: Not Available
Pages: Not Available
Publisher: Not Available
Local/International: International
Paper Link:
Full paper Ahmad Taher Azar_stabilization.pdf
Supplementary materials Not Available
Abstract:

Backlash is one of several discontinuities found in different kinds of systems; it can be found in actuators of different types, such as mechanical and hydraulic, giving way to unwanted effects in the system behavior. In this chapter, three different control approaches are derived to stabilize mechanical systems in which this phenomenon is present in the actuators of the system. First, an independent joint control approach when backlash is found in the actuators is derived; then a PI loop shaping control design implementing a describing function to find the limit cycle oscillations and the appropriate control gain is developed. Finally, an optimal controller for mechanical systems with backlash is derived, obtaining the optimal control law and oscillations frequency when this nonlinearity is found implementing a describing function to model the backlash effects.

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