Title :
Robust digital friction compensation
Author :
Kang, Min-Sig ; Song, Won-Gil ; Kim, Chang-Jae ; Lee, Sang-Kook
Author_Institution :
Agency for Defense Dev., Daejeon, South Korea
Abstract :
Even though the compensator proposed by Southward et al. (1991) can guarantee the stability for stick-slip friction systems in continuous time control, applying this to digital control systems may often generate a limit cycle response because of the inherent time delay of sample-and-hold operation. In this paper, a new robust digital friction compensator is proposed, and its stability and effectiveness are verified analytically and experimentally
Keywords :
robot dynamics; 1-DOF robot; digital control; digital friction compensation; discrete time systems; limit cycle; nonlinear control; robust control; servomechanism; stability; stick-slip friction; Asymptotic stability; Control systems; Delay effects; Digital control; Friction; Limit-cycles; Robots; Robust stability; Robustness; Sampling methods;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.650648
