Adaptive Control of Two-Mass Drive System with Nonlinear Stiffness and Damping

摘要

The paper describes a nonlinear controller design technique for a servo drive with a flexible shaft connecting the motor and the load, in the presence of nonlinear friction. The shaft is characterized by the nonlinear stiffness and damping curve. The proposed controller is based on adaptive backstepping, modified by the use of command filtering. The proposed approach is based on a rigorous proof of the closed-loop system stability. Several experiments demonstrate the effectiveness of the proposed controller.