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Journal of the Korea Institute of Military Science and Technology 2008;11(2):125-135.
Control of Nonlinear Uncertain System with Backlash by Disturbance Observer
Seong-Il Hong, Jin-Mo Yang
백래쉬가 존재하는 비선형 불확실 시스템의 외란관측기를 이용한 제어
홍성일, 양진모
국방과학연구소
Abstract
Backlash in the actuator is one of the most important nonlinearities that limit the performance of speed and position control of mechanical systems. In this paper, we propose disturbance observers in order to estimate the effect of nonlinearities and cancel them subsequently. As a result the disturbance observers make the nonlinear system behave linearly. And finally we show that the disturbance observers guarantee the system robustness and the performance to reject the effect of backlash in the face of parameter uncertainties.
Key Words: Disturbance Observer, Backlash, Robustness, 2 Mass System, Model Shaping
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