Backstepping Control for Gear Transmission Servo Systems With Backlash Nonlinearity

The output tracking problem of gear transmission servo (GTS) systems with backlash nonlinearity is studied in this paper. A new concept-"soft degree"-is proposed to overcome the nondifferentiable "hard" characteristic of the backlash nonlinearity. Furthermore, a detailed softenin...

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Bibliographic Details
Published inIEEE transactions on automation science and engineering Vol. 12; no. 2; pp. 752 - 757
Main Authors Shi, Zhiguang, Zuo, Zongyu
Format Journal Article
LanguageEnglish
Published New York IEEE 01.04.2015
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Adaptation models
Algorithms
Backlash
Backstepping
backstepping control
Control systems
gear transmission servo (GTS) systems
Gears
Limit-cycles
Servomotors
Simulation
soft degree
Softening
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Summary:The output tracking problem of gear transmission servo (GTS) systems with backlash nonlinearity is studied in this paper. A new concept-"soft degree"-is proposed to overcome the nondifferentiable "hard" characteristic of the backlash nonlinearity. Furthermore, a detailed softening process-static softening is presented, where a backstepping control algorithm is developed to guarantee that the output of the controlled systems can track any given desired sufficiently smooth trajectory by arbitrary precision and the limit cycles that appear due to backlash nonlinearity can be avoided. Simulation results validate the effectiveness of the proposed controller.
Bibliography:SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 14
ISSN:1545-5955
1558-3783
DOI:10.1109/TASE.2014.2369430