Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 10, issue 2
Articles | Volume 10, issue 2
https://doi.org/10.5194/ms-10-383-2019
© Author(s) 2019. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-10-383-2019
© Author(s) 2019. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 10, issue 2
Research article
 | 
22 Jul 2019
Research article |  | 22 Jul 2019

Compound optimal control of harmonic drive considering hysteresis characteristic

Quan Lu, Tieqiang Gang, Guangbo Hao, and Lijie Chen

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Short summary
Eliminating the hysteresis effect is highly desired in harmonic drive, which results in challenges in the control design. In this paper, we construct a new compound optimal controller to improve the compensational effect of hysteresis torque. The new controller is proposed based on the optimal theory and the linearization of nonlinear system. Numerical simulation shows that this new controller can track the complex reference trajectory with a relative error less than 1%.
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