Title :
Positioning Control of a 2-Mass Spring System with Static and Kinetic Friction Using Hybrid Controller
Author :
Tadokoro, Kenji ; Konishi, Yasuo ; Araki, Nozomu ; Ishigaki, Hiroyuki
Author_Institution :
Grad. Sch. of Eng., Univ. of Hyogo, Hyogo
Abstract :
This paper proposes a new hybrid controller for a 2-mass spring system with stick-slip motion. The 2-mass spring system is considered as a hybrid system with two states: a static friction state and a kinetic friction state. In controller design, the hybrid system is described as a piecewise affine (PWA) system, which is one of the modeling frameworks of hybrid systems. It is known that the model predictive control method is applicable to PWA systems. The effectiveness of the controller has been evaluated by computer simulations.
Keywords :
control system synthesis; friction; optimal control; piecewise linear techniques; position control; springs (mechanical); 2-mass spring system; PWA systems; hybrid controller design; hybrid systems; kinetic friction state; model predictive control method; piecewise affine system; positioning control; static friction state; stick-slip motion; Computer simulation; Control systems; Electrical equipment industry; Friction; Kinetic theory; Motion control; Predictive control; Predictive models; Springs; Three-term control;
Conference_Titel :
Innovative Computing Information and Control, 2008. ICICIC '08. 3rd International Conference on
Conference_Location :
Dalian, Liaoning
Print_ISBN :
978-0-7695-3161-8
Electronic_ISBN :
978-0-7695-3161-8
DOI :
10.1109/ICICIC.2008.656
