Title :
On the existence of Caratheodory solutions in mechanical systems with friction
Author :
Kim, Seung-Jean ; Ha, In-Joong
Author_Institution :
Sch. of Electr. Eng., Seoul Nat. Univ., South Korea
fDate :
11/1/1999 12:00:00 AM
Abstract :
It is shown that the differential equation with discontinuous right-hand side, which describes the dynamic behavior of a mechanical system with friction, has a Caratheodory solution. This result supports theoretically the prior work on the control of mechanical systems with friction, which assumes the existence of Caratheodory solutions without proof
Keywords :
closed loop systems; differential equations; force control; stiction; Caratheodory solutions; discontinuous right-hand side; dynamic behavior; mechanical systems; Adaptive control; Adaptive systems; Control systems; Differential equations; Force control; Friction; Mechanical systems; Mechanical variables control; Programmable control; Variable structure systems;
Journal_Title :
Automatic Control, IEEE Transactions on
