Identification and Adaptive Position Control of Two Mass Systems with Unknown Backlash

This paper presents a novel method for identification and adaptive position control of two-mass mechanical systems with uncertain backlash hard nonlinearity and with unknown physical parameters. The Identification process consists of two cascade blocks. The first block is a linear in parameter modeland the second block is an iterative algorithm for estimating physical parameters of the shaft. The adaptive controller is designed based on Lyapunov theory to control the position of the load. The simulation results on a sample two-mass system depict the effectiveness of the identification and control algorithms.

Keywords:

Two-mass system , backlash , identification , adaptive control , position control