Title :
Position control of drives with friction
Author :
Myszkorowski, Piotr ; Altpeter, Friedhelm ; Longchamp, Roland
Author_Institution :
Inst. d´´Autom., Swiss Fed. Inst. of Technol., Lausanne, Switzerland
Abstract :
High performance position control of drives with friction is required, amongst others, in machine-tool applications. In this paper, a configuration with a feedback controller and a feedforward compensation based on a friction model is proposed. Global stability of the feedback part is analyzed using a passivity-based approach. Theoretical results in terms of explicit bounds on controller gains are illustrated with experimental data for a vertical electro-discharge machining axis
Keywords :
asymptotic stability; compensation; control system synthesis; drives; feedback; feedforward; friction; machine tools; machining; position control; controller gains; feedback controller; feedforward compensation; friction model; global stability; high performance position control; passivity-based approach; vertical electro-discharge machining axis; Adaptive control; Feedback; Friction; Industrial control; Machining; Position control; Robust control; Stability analysis; Three-term control; Velocity control;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.833390
