A hybrid approach to modelling, control and state estimation of mechanical systems with backlash

DOI10.1080/00207170701493985zbMath1130.93357OpenAlexW2102778746MaRDI QIDQ5440114

Manfred Morari, Philipp Rostalski, F. Van Belzen, M. Barić, Thomas Besselmann

Publication date: 31 January 2008

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207170701493985

zbMATH Keywords

instabilitycontroller designbacklash in mechanical systems

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Stability problems in rigid body dynamics (70E50) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30)

Related Items (8)

A multi-innovation recursive least squares algorithm with a forgetting factor for Hammerstein CAR systems with backlash ⋮ Non-smooth predictive control for mechanical transmission systems with backlash-like hysteresis ⋮ Inf-sup control of discontinuous piecewise affine systems ⋮ Network delay predictive compensation based on time-delay modelling as disturbance ⋮ Driveline oscillations damping: a tractable predictive control solution based on a piecewise affine model ⋮ Characteristic modeling and control of servo systems with backlash and friction ⋮ Control of mechanical systems with Stribeck friction and backlash ⋮ Observer-based predictive controller design with network-enhanced time-delay compensation

Uses Software

• YALMIP
• System Identification Toolbox

Cites Work

• Constrained optimal control of linear and hybrid systems
• Controlling mechanical systems with backlash -- a survey
• Hybrid systems modeling and control
• Dynamic programming for constrained optimal control of discrete-time linear hybrid systems
• New models for backlash and gear play
• Equivalence of hybrid dynamical models

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