Analysis of collocated feedback controllers for four-bar planar mechanisms with joint clearances

Narendra Akhadkar 1 Vincent Acary 1 Bernard Brogliato 1
1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
Abstract : This article presents an analysis of two-dimensional four-bar mechanisms with joint clearance, when one joint is actuated by collocated open-loop or state feedback controllers (proportional-derivative, state feedback linearization, passivity-based control). The study is led with numerical simulations obtained with a projected Moreau-Jean's event-capturing algorithm. The contact/impact model uses kinematic coefficients of restitution, and Coulomb's friction. The focus is put on how much the performance deteriorates when clearances are added in the joints. It is shown that collocated feedback controllers behave in a very robust way.
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Narendra Akhadkar, Vincent Acary, Bernard Brogliato. Analysis of collocated feedback controllers for four-bar planar mechanisms with joint clearances. Multibody System Dynamics, Springer Verlag, 2016, 38 (2), pp.101-136. ⟨10.1007/s11044-016-9523-x⟩. ⟨hal-01218531⟩

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