|
|
|
|
|
|
|
|
 |
||
|
|
||
| |||||||||
|
Robust Impulsive Control of Motion Systems with Uncertain FrictionAuthors: N. van de Wouw (Eindhoven University of Technology), Remco Leine
Proportional-derivative set-point control for motion systems with friction results in an equilibrium set, and, therefore, in a non-zero steady state error. If the friction characteristic is known, then the friction can be exactly compensated by the controller. However, in a practical situation the friction is not a priory known and changes over time. In this joint research project, we design a set-point control scheme with zero steady-state error for motion systems with uncertain friction using impulsive feedback. Only a lower-bound and a upper-bound of the friction force is used in the design. The set-point control applies an impulsive control action whenever the system arrives in the stick set. We prove that the set point is stabilized by the control scheme and that the set-point is reached in a finite time.
Motion system with friction and impulsive input | ||||||||||||||||||||||
|
[Top] |
