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Modeling Nonsmooth Nonlinearities in Mechanical Systems

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Nonlinear Control of Vehicles and Robots

Part of the book series: Advances in Industrial Control ((AIC))

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Abstract

The first part of the Chap. 9 presents the basic theoretical notions from the field of modeling and stability of nonsmooth systems. Afterward, it focuses on modeling of two nonsmooth nonlinearities that can influence the performances of mechanical control systems: friction and backlash. The most important static and dynamic friction models, that are applied in friction compensation algorithms, are discussed. After presenting the well known friction models from the literature, a novel, piecewise linearly parameterized model is introduced based on which the problem of friction compensation with unknown friction parameters can easily be solved. At the end of the chapter it is presented, how the backlash type nonlinearity influences the motion of mechanical systems.

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Authors and Affiliations

  1. Dept. Control Engineering & Information Technology, Budapest University of Technology & Economics, Magyar Tudósok Körútja 2, 1117, Budapest, Hungary

    Prof. Béla Lantos

  2. Dept. Electrical Engineering, Sapientia Hungarian University of Transylvania, Soseaua Sighisoarei 1C, 547367, Targu Mures, Romania

    Dr. Lőrinc Márton

Authors
  1. Prof. Béla Lantos
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  2. Dr. Lőrinc Márton
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Correspondence to Béla Lantos .

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Lantos, B., Márton, L. (2011). Modeling Nonsmooth Nonlinearities in Mechanical Systems. In: Nonlinear Control of Vehicles and Robots. Advances in Industrial Control. Springer, London. https://doi.org/10.1007/978-1-84996-122-6_9

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  • DOI: https://doi.org/10.1007/978-1-84996-122-6_9

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-84996-121-9

  • Online ISBN: 978-1-84996-122-6

  • eBook Packages: EngineeringEngineering (R0)

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