Stability of PDF controller with stick-slip friction device

Author

Huang, Chih- Jung ; Yen, Jia-Yush ; Lu, Shu-Shung

Author_Institution

Dept. of Mech. Eng., Nat. Taiwan Univ., Taipei, Taiwan

Volume

5

fYear

1995

fDate

21-23 Jun 1995

Firstpage

3289

Abstract

This paper presents the precision control of drive devices with significant stick-slip friction. The controller design follows the pseudo-derivative feedback (PDF) control algorithm. Using the second order system model, the PDF controller offers arbitrary pole placement. In this paper, the stability proof for the controller with stick-slip friction is presented. On the basis of this proof, the stability criteria are derived. The paper also includes computer simulation and experimental work to confirm theoretical results. The experiments conducted on a traction type drive device (TTDD) shows that control accuracy of as high as ±1 arc-second is achieved

Keywords

control system synthesis; feedback; friction; pole assignment; stability; stability criteria; PDF controller stability; arbitrary pole placement; controller design; drive devices; precision control; pseudo-derivative feedback control algorithm; stick-slip friction device; traction type drive device; Adaptive control; Algorithm design and analysis; Control systems; Feedback; Friction; Mechanical engineering; Programmable control; Sliding mode control; Stability; Table lookup;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, Proceedings of the 1995

Conference_Location

Seattle, WA

Print_ISBN

0-7803-2445-5

Type

conf

DOI

10.1109/ACC.1995.532211

Filename

532211