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Automatika : journal for control, measurement, electronics, computing and communications, Vol.56 No.4 February 2016. -

In this paper, the problem of driving angular position of a direct current servomotor system with unmodeled wide backlash nonlinearity is addressed. In order to tackle this problem, a control scheme based on an adaptive super twisting algorithm is proposed. In order to implement the proposed controller, information about angular velocity is estimated by means of a robust differentiator. Based on a simplified model of the system, the proposed scheme increases robustness against unmodeled dynamics as backlash, as not all the parameters of the system nor the bounds of the perturbations are required to be known. Experimental results considering a wide backlash angle near to 2*PI, illustrate the feasibility and performance of the proposed control methodology.

Robust control; Adaptive control; Servomotor; Backlash nonlinearity

Autor: Oscar Salas-Peña - ; Faculty of Mechanical and Electrical Engineering, Department of Mechatronics



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