Abstract
The purpose of this paper is to present the design and instrumentation of a new benchmark multivariable nonlinear control laboratory. The mathematical model of this system may be used to test the applicability and performance of various nonlinear control procedures. The system is a two degree-of-freedom robotic arm with soft and hard (discontinuous) nonlinear terms. Two novel mechanisms are designed to allow the implementation of adjustable Coulomb friction and backlash.
| Original language | English |
|---|---|
| Pages (from-to) | 871-877 |
| Number of pages | 7 |
| Journal | World Academy of Science, Engineering and Technology |
| Volume | 62 |
| Publication status | Published - Feb 2010 |
| Externally published | Yes |
Keywords
- Adjustable Coulomb friction
- Adjustable backlash
- Describing functions
- Nonlinear control