Controller design for flexible systems with friction: linear programming approach

Author

Kim, Jae-Jun ; Singh, Tarunraj

Author_Institution

State Univ. of New York, Buffalo, NY, USA

Volume

6

fYear

2003

fDate

4-6 June 2003

Firstpage

4555

Abstract

The design of a controller for a flexible system under the influence of friction is presented. A linear programming technique for finding an optimal control of linear flexible systems is extended to fractional systems. A floating oscillator is used in the development, where friction and control input forces are acting on the first mass. The result of the linear programming is a control profile for rest-to-rest maneuvers where the static and Coulomb friction is included in the system model. The positive pulse controller is also developed based on the available friction force. These controllers can be applied to precision positioning systems and servo applications where the friction and flexibility are significant.

Keywords

control system synthesis; linear programming; optimal control; oscillators; position control; sampled data systems; servomechanisms; stiction; Coulomb friction; control input forces; controller design; floating oscillator; frictional force; frictional systems; linear flexible systems; linear programming; optimal control; positive pulse controller; precision positioning systems; rest-to-rest maneuvers; static friction; Control systems; Equations; Force control; Friction; Linear programming; Linear systems; Optimal control; Oscillators; Velocity control; Weight control;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2003. Proceedings of the 2003

ISSN

0743-1619

Print_ISBN

0-7803-7896-2

Type

conf

DOI

10.1109/ACC.2003.1242441

Filename

1242441