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Controlling mechanical systems with backlash – a survey. (English) Zbl 1030.70013

Summary: Backlash is one of the most important nonlinearities that limit the performance of speed and position control in robotics, automation and other industrial applications. The control of systems with backlash has been the subject of study since the 1940s. This survey reveals that surprisingly few control innovations have been presented since the early path-breaking papers that introduced the describing function analysis of systems with backlash. Promising developments, however, take place using adaptive and nonlinear control strategies.

MSC:

70Q05 Control of mechanical systems
70-02 Research exposition (monographs, survey articles) pertaining to mechanics of particles and systems
93C10 Nonlinear systems in control theory
93C40 Adaptive control/observation systems
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