Oscillations and Friction Compensation in Two-Mass Drive System with Flexible Shaft by Command Filtered Adaptive Backstepping

The nonlinear controller design technique is proposed for servo drive in the presence of: a) friction (or any other resisting torque) modeled by a static, memoryless nonlinear function of velocity and position b) the significant elasticity of the shaft connecting the motor and the load. The proposed controller is based on adaptive backstepping approach with command filtering applied if necessary. Mixed adaptive backstepping and command filtering techniques allow to accomplish the rigorous proof of the closed-loop system stability. Several experiments prove the control effectiveness and robustness against un-modelled dynamics.