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Feedback control of multibody systems with joint clearance and dynamic backlash: a tutorial
- Source :
- Multibody System Dynamics, Multibody System Dynamics, Springer Verlag, 2018, 42 (3), pp.283-315. ⟨10.1007/s11044-017-9585-4⟩, Multibody System Dynamics, 2018, 42 (3), pp.283-315. ⟨10.1007/s11044-017-9585-4⟩
- Publication Year :
- 2017
- Publisher :
- Springer Science and Business Media LLC, 2017.
-
Abstract
- International audience; The problem of feedback control of mechanisms with joint clearance is analysed. Various control strategies are reviewed: impactless trajectories with persistent contact, control through collisions, the stabilization of equilibrium points, and trajectory tracking control. This article sets a general control framework, brings some preliminary answers and leaves some problems open, which are mentionned all through the article and in the conclusions.
- Subjects :
- Equilibrium point
0209 industrial biotechnology
Engineering
Control and Optimization
business.industry
Mechanical Engineering
Feedback control
Aerospace Engineering
Control engineering
02 engineering and technology
01 natural sciences
[SPI.AUTO]Engineering Sciences [physics]/Automatic
Computer Science Applications
020901 industrial engineering & automation
Control theory
Modeling and Simulation
0103 physical sciences
Trajectory
Joint (building)
[MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC]
Control (linguistics)
business
010301 acoustics
Backlash
Subjects
Details
- ISSN :
- 1573272X and 13845640
- Volume :
- 42
- Database :
- OpenAIRE
- Journal :
- Multibody System Dynamics
- Accession number :
- edsair.doi.dedup.....47236d386f5983f795b1af1902a675ec
- Full Text :
- https://doi.org/10.1007/s11044-017-9585-4