Fast Pointing Control for Systems With Stick-Slip Friction
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Published:2004-09-01
Issue:3
Volume:126
Page:614-626
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ISSN:0022-0434
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Container-title:Journal of Dynamic Systems, Measurement, and Control
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language:en
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Short-container-title:
Author:
Wu Ruh-Hua1, Tung Pi-Cheng1
Affiliation:
1. Department of Mechanical Engineering, National Central University, Taiwan, Republic of China
Abstract
A controller consisting of three schemes, one proportional gain, one pulse, and one ramp, is proposed to achieve precise and fast pointing control under the presence of stick-slip friction. Design of the controller is based on two distinctive features of friction, the varying sticking force and presliding displacement of contacts under static friction. The latter is the main idea behind the ramp scheme to accomplish the fast pointing task. Implementation of this multistage control strategy requires position measurement only. Experimental results demonstrate the effectiveness of the proposed controller for the desired performance.
Publisher
ASME International
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Reference24 articles.
1. Swevers, J., Al-Bender, F., Ganseman, C. G., and Prajogo, T., 2000, “An Integrated Friction Model Structure With Improved Presliding Behavior for Accurate Friction Compensation,” IEEE Trans. Autom. Control, 45, pp. 675–686. 2. Armstrong-He´louvry, B., 1993, Control of Machines With Friction, edited by Norwell, Kluwer. 3. Armstrong-He´louvry, B., Dupont, P., and Canduas de Wit, C., 1994, “A Survey of Models, Analysis Tools and Compensation Methods for the Control of Machines With Friction,” Automatica, 30, pp. 1083–1138. 4. Canudas de Wit, C., Noe¨l, P., Aubin, A., and Brogliato, B., 1991, “Adaptive Friction Compensation in Robot Manipulators: Low Velocities,” Int. J. Robot. Res., 10, pp. 189–199. 5. Canudas de Wit, C., Astrom, K. J., and Braun, K., 1987, “Adaptive Friction Compensation in DC-Motor Drives,” IEEE J. Rob. Autom., RA-3, pp. 681–685.
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