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H8 control design for mechanisms with backlash
dc.contributor.author | Pujol Vázquez, Gisela |
dc.contributor.author | Ikhouane, Fayçal |
dc.contributor.author | Acho Zuppa, Leonardo |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament de Matemàtica Aplicada III |
dc.date.accessioned | 2011-04-28T08:50:07Z |
dc.date.available | 2011-04-28T08:50:07Z |
dc.date.created | 2009 |
dc.date.issued | 2009 |
dc.identifier.citation | Pujol, 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. |
dc.identifier.uri | http://hdl.handle.net/2117/12423 |
dc.description.abstract | 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. |
dc.format.extent | 6 p. |
dc.language.iso | eng |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Matemàtiques i estadística |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
dc.subject.lcsh | Nonlinear control theory |
dc.subject.lcsh | Robust control |
dc.title | H8 control design for mechanisms with backlash |
dc.type | Conference lecture |
dc.subject.lemac | Control no lineal, Teoria de |
dc.subject.lemac | Control automàtic |
dc.contributor.group | Universitat Politècnica de Catalunya. CoDAlab - Control, Modelització, Identificació i Aplicacions |
dc.subject.ams | Classificació AMS::93 Systems Theory; Control |
dc.rights.access | Restricted access - publisher's policy |
local.identifier.drac | 4451035 |
dc.description.version | Postprint (published version) |
local.citation.author | Pujol, G.; Ikhouane, F.; Acho, L. |
local.citation.contributor | International Symposium on Control and Applications |
local.citation.publicationName | International Symposium on Control and Applications |
local.citation.startingPage | 103 |
local.citation.endingPage | 108 |