Controlling mechanical systems with backlash—a survey

• Published in: Automatica (Oxford) Vol. 38; no. 10; pp. 1633 - 1649
• Main Authors: Nordin, Mattias, Gutman, Per-Olof
• Format: Journal Article
• Language: English
• Published: Oxford Elsevier Ltd 01.10.2002; Elsevier
• Subjects: Applied sciences; Backlash compensation; Computer science; control theory; systems; Control of mechanical systems; Control system synthesis; Control theory. Systems; Describing functions; Exact sciences and technology; Fundamental areas of phenomenology (including applications); Mechanical systems; Motor control; Non-linear control; Physics; Solid dynamics (ballistics, collision, multibody system, stabilization...); Solid mechanics; Backlash compensation; Non-linear control; Mechanical systems; Motor control; Describing functions; Motor car; Innovation; Industrial control; Position control; Mechanical system; Non linear control; Describing function; Mechanical clearance; Speed control; System analysis; Linear control; Robotics
• ISSN: 0005-1098; 1873-2836
• DOI: 10.1016/S0005-1098(02)00047-X

Backlash is one of the most important non-linearities that limit the performance of speed and position control in industrial, robotics, automotive, automation and other applications. The control of systems with backlash has been the subject of study since the 1940s. This survey reveals that surprisingly few control innovations have been presented since the early path breaking papers that introduced the describing function analysis of systems with backlash. Promising developments are however taking place using adaptive and non-linear control strategies.