Abstract

The focus of this work is the analysis and control of a simple rigid body mechanical system with dynamic backlash. Contrary to most of the existing work in the control literature we explicitly treat all the dynamic and nonlinear characteristics of this system. A desired symmetric periodic orbit locally stable is generated by a PD control scheme. In order to enlarge the basin of attraction of this orbit we propose the use of a hybrid control in addition to the PD control. This work finds potential application in several areas including the control of kinematic chains with joint clearance and vibro-impact systems.

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