• DocumentCode
    2581596
  • Title

    Friction compensation for a robust, low order H∞-optimal position control of a multi-mass system

  • Author

    Joost, M. ; Orlik, B.

  • Author_Institution
    Univ. of Bremen, Bremen
  • fYear
    2007
  • fDate
    2-5 Sept. 2007
  • Firstpage
    1
  • Lastpage
    9
  • Abstract
    Controlling a multi-mass system is a common problem in industrial automation. Varying or unknown parameters, especially friction, make the control problem more difficult. A powerful tool to control systems with uncertain parameters is a robust Hinfin-controller. Furthermore, high static friction often still causes problems like stick slip effects. Therefore, friction compensation is needed in addition to a robust controller. This paper will present a simple yet robust friction compensation used in tandem with a robust Hinfin-controller. Measurements will complete the paper.
  • Keywords
    control systems; industrial control; position control; control systems; friction compensation; industrial automation; multimass system; position control; robust controller; Angular velocity; Automatic control; Control systems; Friction; Motion control; Position control; Robust control; Robustness; Shafts; Torque; Mechatronics; Motion control; Robust control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Power Electronics and Applications, 2007 European Conference on
  • Conference_Location
    Aalborg
  • Print_ISBN
    978-92-75815-10-8
  • Electronic_ISBN
    978-92-75815-10-8
  • Type

    conf

  • DOI
    10.1109/EPE.2007.4417396
  • Filename
    4417396
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2581596