Affiliation:
1. Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA 94720
Abstract
Conventional linear digital control fails to provide precise positioning of a control object under the influence of static friction, Coulomb friction, and backlash. This paper presents an adaptive pulse width control (PWC) scheme for a precise point-to-point positioning system. This scheme is developed based on the relationship between the displacement of a control object due to a single pulse input and the pulse width. The coefficient appearing in this relationship is estimated by a parameter adaptation algorithm. Sufficient conditions for asymptotic stability of this adaptive scheme are developed using Popov hyperstability theorem. This adaptive PWC is tested on a laboratory positioning table and is shown to be effective.
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Cited by
81 articles.
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