| Summary: | We consider a two-mass drive with a flexible joint with a nonlinear characteristic of the transmitted torque as a function of the torsion angle. We propose a new, nonlinear, adaptive position-tracking controller, taking this nonlinearity of stiffness into account. The derivation of the controller is based on nonlinear adaptive control theory, incorporates several non-standard mathematical techniques and provides a proof of the uniform ultimate boundedness of tracking errors. As the result, we present a controller that solves the position tracking problem, attenuates dangerous tortional oscillations in the shaft and operates correctly in the presence of unknown torques acting on both sides of the joint, even if all plant parameters are unknown. We demonstrate experimentally that using some materials indeed introduces a nonlinear characteristic of the joint. We prove via real plant experiments that the proposed control algorithm is easily implementable with a DSP controller in real-world applications.
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