DocumentCode
1546042
Title
Control of nonlinear systems with friction
Author
Hirschorn, R.M. ; Miller, G.
Author_Institution
Dept. of Math. & Stat., Queen´´s Univ., Kingston, Ont., Canada
Volume
7
Issue
5
fYear
1999
fDate
9/1/1999 12:00:00 AM
Firstpage
588
Lastpage
595
Abstract
We introduce a continuous dynamic controller for a class of nonlinear systems which includes mechanical system models with a bristle model for nonlinear friction effects. We obtain sufficient conditions for global stabilization using an estimate for bristle defection and present experimental results illustrating the benefits of our dynamic controller in the regulation of a high-speed linear positioning table
Keywords
Lyapunov methods; asymptotic stability; friction; nonlinear control systems; observers; position control; reduced order systems; state feedback; bristle model; continuous dynamic controller; global stabilization; high-speed linear positioning table; mechanical system models; nonlinear friction effects; sufficient conditions; Control systems; Error correction; Friction; Mechanical systems; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; PD control; Pi control; Proportional control;
fLanguage
English
Journal_Title
Control Systems Technology, IEEE Transactions on
Publisher
ieee
ISSN
1063-6536
Type
jour
DOI
10.1109/87.784422
Filename
784422
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