DocumentCode
349233
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
Volume
2
fYear
1999
fDate
5-8 Sep 1999
Firstpage
1167
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ICECS.1999.813441
Filename
813441
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