Title :
Control of nonlinear systems with friction
Author :
Hirschorn, R.M. ; Miller, G.
Author_Institution :
Dept. of Math. & Stat., Queen´´s Univ., Kingston, Ont., Canada
fDate :
9/1/1999 12:00:00 AM
Abstract :
We introduce a continuous dynamic controller for a class of nonlinear systems which includes mechanical system models with a bristle model for nonlinear friction effects. We obtain sufficient conditions for global stabilization using an estimate for bristle defection and present experimental results illustrating the benefits of our dynamic controller in the regulation of a high-speed linear positioning table
Keywords :
Lyapunov methods; asymptotic stability; friction; nonlinear control systems; observers; position control; reduced order systems; state feedback; bristle model; continuous dynamic controller; global stabilization; high-speed linear positioning table; mechanical system models; nonlinear friction effects; sufficient conditions; Control systems; Error correction; Friction; Mechanical systems; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; PD control; Pi control; Proportional control;
Journal_Title :
Control Systems Technology, IEEE Transactions on
