Robust digital friction compensation

Robust digital friction compensation

Even though the compensator proposed by Southward et al. (1991) can guarantee the stability for stick-slip friction systems in continuous time control, applying this to digital control systems may often generate a limit cycle response because of the inherent time delay of sample-and-hold operation....

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: Min-Sig Kang, Won-Gil Song, Chang-Jae Kim, Sang-Kook Lee
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Asymptotic stability
Control systems
Delay effects
Digital control
Friction
Limit-cycles
Robots
Robust stability
Robustness
Sampling methods
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Beschreibung
Zusammenfassung:Even though the compensator proposed by Southward et al. (1991) can guarantee the stability for stick-slip friction systems in continuous time control, applying this to digital control systems may often generate a limit cycle response because of the inherent time delay of sample-and-hold operation. In this paper, a new robust digital friction compensator is proposed, and its stability and effectiveness are verified analytically and experimentally.
ISSN:0191-2216
DOI:10.1109/CDC.1997.650648