Optimal control of tracking systems with backlash and flexibility

被引：0
|
作者：
Ezal, K [1 ]
Kokotovic, PV [1 ]
Tao, G [1 ]
机构：
[1] Univ Calif Santa Barbara, Dept Elect & Comp Engn, Santa Barbara, CA 93106 USA
来源：
PROCEEDINGS OF THE 36TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5 | 1997年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A system with backlash and flexibility is compensated with an open-loop optimal control law combined with a linear partial-state feedback law. The compensation of backlash is treated as a rendezvous problem in optimal control, while the linear controller for flexibility is designed using techniques from classical control theory and singular perturbation theory. Simulation results show significant improvements in system tracking performance when backlash compensation is active.
引用
收藏
页码：1749 / 1754
页数：6
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