DocumentCode
486875
Title
Adaptive Pulse Width Control for Precise Positioning under Influence of Stiction and Coulomb Friction
Author
Yang, Sangsik ; Tomizuka, Masayoshi
Author_Institution
Graduate student, Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA 94720
fYear
1987
fDate
10-12 June 1987
Firstpage
188
Lastpage
193
Abstract
The conventional linear digital control fails to provide precise positioning of a control object under the influence of static friction, Coulomb friction and backlash. This paper presents an adaptive pulse width control (PWC) scheme. This scheme is developed based on the relationship between the displacement of a control object due to a single pulse input and the pulse width. The coefficient appearing in this relationship is estimated by a parameter adaptation algorithm. Sufficient conditions for asymtotic stability of this adaptive scheme is developed using Popov hyperstability theorem. This adaptive PWC is tested on a laboratory positioning table and is shown to be effective.
Keywords
Adaptive control; Digital control; Displacement control; Friction; Parameter estimation; Programmable control; Space vector pulse width modulation; Stability; Sufficient conditions; Testing;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1987
Conference_Location
Minneapolis, MN, USA
Type
conf
Filename
4789322
Link To Document