Control of nonlinear systems with friction
نویسندگان
چکیده
In this paper we introduce a new continuous dynamic controller for a class of nonlinear systems which includes mechanical system models with a bristle model for nonlinear friction eeects. We obtain suucient conditions for global stabilization using an estimate for bristle defec-tion and present experimental results illustrating the beneets of our dynamic controller in the regulation of a high speed linear positioning table.
منابع مشابه
Friction Compensation for Dynamic and Static Models Using Nonlinear Adaptive Optimal Technique
Friction is a nonlinear phenomenon which has destructive effects on performance of control systems. To obviate these effects, friction compensation is an effectual solution. In this paper, an adaptive technique is proposed in order to eliminate limit cycles as one of the undesired behaviors due to presence of friction in control systems which happen frequently. The proposed approach works for n...
متن کاملElimination of Hard-Nonlinearities Destructive Effects in Control Systems Using Approximate Techniques
Many of the physical phenomena, like friction, backlash, drag, and etc., which appear in mechanical systems are inherently nonlinear and have destructive effects on the control systems behavior. Generally, they are modeled by hard nonlinearities. In this paper, two different methods are proposed to cope with the effects of hard nonlinearities which exist in friction various models. Simple inver...
متن کاملModeling of Nonlinear Systems with Friction Structure Using Multivariable Taylor Series Expansion
The major aim of this article is modeling of nonlinear systems with friction structure that, thismethod is essentially extended based on taylore expansion polynomial. So in this study, thetaylore expansion was extended in the generalized form for the differential equations of the statespaceform. The proposed structure is based on multi independent variables taylore extended.According to the pro...
متن کاملNonlinear Dynamics and Control of Crank-Slider Mechanism with Multiple Clearance Joints
In the current study, behavior of crank-slider mechanism with single and multiple clearance joints are analyzed. Using Lankarani-Nikravesh theory for estimating discontinuous contact forces in clearance joints, relevant systems have been mathematically modeled. Through numerical simulations, perturbations in response of mechanisms with clearance joints have been analyzed. Effects of increasing ...
متن کاملConstrained Nonlinear Estimation of Road Friction Coefficient and Wheel Slip for Control of Anti-Lock Braking System
In designing the anti-lock braking system (ABS), some states and parameters of vehicle system such as road friction of coefficient and wheel slip should be estimated due to lack of cost effective and reliable sensors for direct measurement. Because of nonlinear characteristics of vehicle dynamics and tire forces, development of a nonlinear estimation algorithm is necessary. However, considerati...
متن کاملNonlinear Dynamic Modeling and Hysteresis Analysis of Aerospace Hydro - dynamical Control Valves
A new procedure for deriving nonlinear mathematical modeling for a specific class of aerospace hydro - mechanical control valves is presented. The effects of friction on the dynamic behavior of these types of valves along with the experimental verifictions are also given. The modeling approach is based on the combination of the following three tasks: decomposition of the valve into simple speci...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
- IEEE Trans. Contr. Sys. Techn.
دوره 7 شماره
صفحات -
تاریخ انتشار 1999