Positioning Control of a 2-Mass Spring System with Static and Kinetic Friction Using Hybrid Controller

Author

Tadokoro, Kenji ; Konishi, Yasuo ; Araki, Nozomu ; Ishigaki, Hiroyuki

Author_Institution

Grad. Sch. of Eng., Univ. of Hyogo, Hyogo

fYear

2008

fDate

18-20 June 2008

Firstpage

197

Lastpage

197

Abstract

This paper proposes a new hybrid controller for a 2-mass spring system with stick-slip motion. The 2-mass spring system is considered as a hybrid system with two states: a static friction state and a kinetic friction state. In controller design, the hybrid system is described as a piecewise affine (PWA) system, which is one of the modeling frameworks of hybrid systems. It is known that the model predictive control method is applicable to PWA systems. The effectiveness of the controller has been evaluated by computer simulations.

Keywords

control system synthesis; friction; optimal control; piecewise linear techniques; position control; springs (mechanical); 2-mass spring system; PWA systems; hybrid controller design; hybrid systems; kinetic friction state; model predictive control method; piecewise affine system; positioning control; static friction state; stick-slip motion; Computer simulation; Control systems; Electrical equipment industry; Friction; Kinetic theory; Motion control; Predictive control; Predictive models; Springs; Three-term control;

fLanguage

English

Publisher

ieee

Conference_Titel

Innovative Computing Information and Control, 2008. ICICIC '08. 3rd International Conference on

Conference_Location

Dalian, Liaoning

Print_ISBN

978-0-7695-3161-8

Electronic_ISBN

978-0-7695-3161-8

Type

conf

DOI

10.1109/ICICIC.2008.656

Filename

4603386