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MS | Articles | Volume 10, issue 2
Mech. Sci., 10, 383–391, 2019
https://doi.org/10.5194/ms-10-383-2019
© Author(s) 2019. This work is distributed under
the Creative Commons Attribution 4.0 License.
Mech. Sci., 10, 383–391, 2019
https://doi.org/10.5194/ms-10-383-2019
© Author(s) 2019. This work is distributed under
the Creative Commons Attribution 4.0 License.

Research article 22 Jul 2019

Research article | 22 Jul 2019

Compound optimal control of harmonic drive considering hysteresis characteristic

Quan Lu et al.
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Cited articles  
An, C. H., Atkeson, C. G., Griffiths, J. D., and Hollerbach, J. M.: Experimental evaluation of feedforward and computed torque control, IEEE T. Robotic Autom., 5, 368–373, https://doi.org/10.1109/70.34773, 1989. 
Anderson, B. D. and Moore, J. B.: Optimal control: linear quadratic methods, Courier Corporation, Prentice-Hall, 2007. 
Ascher, U. M., Mattheij, R. M., and Russell, R. D.: Numerical solution of boundary value problems for ordinary differential equations, Classics in Applied Mathematics, Society for Industrial and Applied Mathematics, Siam, 13, 1994. 
Bandyopadhyay, B. and Patil, M.: Sliding mode control with the reduced-order switching function: an SCB approach, ISPRS Int. Geo.-Inf., 88.5, 1089–1101, https://doi.org/10.1080/00207179.2014.989409, 2015. 
Bertotti, G.: Hysteresis in magnetism: for physicists, materials scientists, and engineers, Academic press, 1998. 
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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%.
Eliminating the hysteresis effect is highly desired in harmonic drive, which results in...
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