H8 control design for mechanisms with backlash
Document typeConference lecture
Rights accessRestricted access - publisher's policy
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 simpler model 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). Experimental realization in an industrial emulator with backlash is carried out, evidencing an acceptable performance of the controller subject to external perturbation.
CitationPujol, G.; Ikhouane, F.; Acho, L. H8 control design for mechanisms with backlash. A: International Symposium on Control and Applications. "International Symposium on Control and Applications". 2009, p. 103-108.