Backlash nonlinearity switching control with proximate time optimal compensation

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作者：
Department of Automation, Nanjing University of Science and Technology, Nanjing 210094, China [1 ]
机构：
来源：
Binggong Xuebao | 2006年 / 2卷 / 325-329期
关键词：
Computer simulation - Control equipment - Design - Optimal systems - Robustness (control systems) - Servomechanisms - Sliding mode control - Stability - Switching;
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摘要：
Based on servo system, a backlash nonlinear switching control scheme with PTO (proximate time optimal) compensation was presented. With linear controller used in contact period, sliding control with PTO surface is switched into when system entering backlash. A supervising mechanism was introduced to find suitable moment switching from linear control to PTO sliding control, ensuring boundary input and boundary output (BIBO) stability of the whole system. The design can effectively eliminate the colliding disturbance resulting from backlash and improve the robustness of controller.
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