Control of Gear Transmission Servo Systems With Asymmetric Deadzone Nonlinearity

摘要

This brief deals with the output control problem of gear transmission servo systems with asymmetric deadzone nonlinearity between states. To overcome the difficulty of controller design due to the nondifferentiability of the deadzone, a brand new differentiable asymmetric deadzone model is put forward, which provides an additional design degree of freedom to approximate the real deadzone with any prescribed accuracy. Based on the differentiability of the new model, a global differential homeomorphism and a simple state feedback controller are proposed to solve the output control problem. Finally, simulation studies are included to demonstrate the main results of this brief.