Title :
Time-optimal control of mechanical systems with friction
Author :
Kim, Tae-Han ; Ha, In-Joong
Author_Institution :
Sch. of Electr. Eng., Seoul Nat. Univ., South Korea
Abstract :
This paper presents the exact solution to the minimum-time optimal control problem with mechanical systems with friction. In particular, the optimal control input can be synthesized in feedback form. The effect of Coulomb friction which was ignored or precompensated in the prior works is taken into full account. As a result, the admissible control input can be fully utilized to achieve faster response
Keywords :
compensation; control system analysis; feedback; friction; mechanical control equipment; optimal control; Coulomb friction; admissible control input; feedback form control input; friction; mechanical systems; minimum-time optimal control problem; precompensation; response; Computer numerical control; Control system synthesis; Control systems; Equations; Feedback; Friction; Manipulator dynamics; Mechanical systems; Optimal control; Robots;
Conference_Titel :
Electronics, Circuits and Systems, 1999. Proceedings of ICECS '99. The 6th IEEE International Conference on
Conference_Location :
Pafos
Print_ISBN :
0-7803-5682-9
DOI :
10.1109/ICECS.1999.813441
