A hybrid approach to modelling, control and state estimation of mechanical systems with backlash

Horizon-1 predictive control of networked controlled vehicle drivetrains

“…In the literature numerous models were proposed during the last years for conventional powertrains such as: two inertias models, one inertia corresponding to the engine and the other inertia to the vehicle mass and the wheels, (Baumann et al, 2006;Rostalski et al, 2007;Saerens et al, 2008) and three inertias models, one representing the engine, the second representing the gearbox and the final drive and the third inertia corresponding to the vehicle mass and the wheels (Van Der Heijden et al, 2007).…”

“…In recent years, the greater demand for passenger comfort, which requires a reduction of the noise and vibration characteristics of vehicles, has led to the design of proper models for conventional vehicle drivetrains and to the development of different control strategies to minimize the effects of drivetrain oscillations: robust pole placement (Stewart et al, 2005), H ∞ optimization (Lefebvre et al, 2003), linear quadratic gaussian control design with loop transfer recovery (LQG/LTR) (Berriri et al, 2008) and even model predictive control (MPC) (Rostalski et al, 2007). Although the majority of the control strategies that are implemented on real vehicles are based on heuristics and look-up tables, it was shown that MPC has a large potential for control of automotive subsystems, e.g., mechatronic actuators (Di Cairano et al, 2007), driveline (Saerens et al, 2008), engine (Di Cairano et al, 2010).…”

Modeling and Control of a Parallel Robot Using Modelica

“…The latter has been well-studied in literature since the 1940s, due to the fact that in most cases the considered plants which exhibit backlash-effects may be modeled as such a two-mass system. Some older and more recent research on this standard plant can be found in [7], [8]. In the present case, the additional second motor is considered by introducing a third mass, which leads to a three-mass system with two nonlinearities representing the backlash between each motor and the cart.…”

A Multi-innovation Recursive Least Squares Algorithm with a Forgetting Factor for Hammerstein CAR Systems with Backlash

“…Backlash or backlash-like hysteresis exists in many control systems, such as actuators of servo control systems, networked industrial process systems, mechanical transmission systems, and hydraulic control valves [11,20,28,46]. As stated in [34,40], many factors cause the phenomenon of backlash or backlash-like hysteresis in real control systems, but the dead-zone and the gap in transmission links are the main reasons. This type of nonlinearity with backlash or backlash-like hysteresis often results in the deterioration of the system performance, such as delays, oscillations, inaccuracy and even instability [1,14,23,52].…”