Robust friction compensation for precise and smooth position regulation

G. Song; L. Cai

doi:10.1109/CCA.1995.555721

Robust friction compensation for precise and smooth position regulation

G. Song^*, L. Cai

^*Corresponding author for this work

Research output: Contribution to conference › Conference Paper › peer-review

1 Citation (Scopus)

Abstract

In this paper, a smooth robust time-varying controller is proposed to regulate a servo-system with stick-slip friction. The controller has the advantage of simultaneously achieving zero regulating error and smoothness of motion. Only an upper bound on the maximum static friction torque is required for controller design. Lyapunov's second method is employed to prove the global asymptotic stability of the closed-loop system. Numerical simulations of regulating a servo-system with friction are presented as illustrations.

Original language	English
Pages	308-309
Number of pages	2
DOIs	https://doi.org/10.1109/CCA.1995.555721
Publication status	Published - 1995
Externally published	Yes
Event	Proceedings of the 1995 IEEE Conference on Control Applications - Albany, NY, USA Duration: 28 Sept 1995 → 29 Sept 1995

Conference

Conference	Proceedings of the 1995 IEEE Conference on Control Applications
City	Albany, NY, USA
Period	28/09/95 → 29/09/95

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10.1109/CCA.1995.555721

Cite this

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title = "Robust friction compensation for precise and smooth position regulation",

abstract = "In this paper, a smooth robust time-varying controller is proposed to regulate a servo-system with stick-slip friction. The controller has the advantage of simultaneously achieving zero regulating error and smoothness of motion. Only an upper bound on the maximum static friction torque is required for controller design. Lyapunov's second method is employed to prove the global asymptotic stability of the closed-loop system. Numerical simulations of regulating a servo-system with friction are presented as illustrations.",

author = "G. Song and L. Cai",

year = "1995",

doi = "10.1109/CCA.1995.555721",

language = "English",

pages = "308--309",

note = "Proceedings of the 1995 IEEE Conference on Control Applications ; Conference date: 28-09-1995 Through 29-09-1995",

}

TY - CONF

T1 - Robust friction compensation for precise and smooth position regulation

AU - Song, G.

AU - Cai, L.

PY - 1995

Y1 - 1995

N2 - In this paper, a smooth robust time-varying controller is proposed to regulate a servo-system with stick-slip friction. The controller has the advantage of simultaneously achieving zero regulating error and smoothness of motion. Only an upper bound on the maximum static friction torque is required for controller design. Lyapunov's second method is employed to prove the global asymptotic stability of the closed-loop system. Numerical simulations of regulating a servo-system with friction are presented as illustrations.

AB - In this paper, a smooth robust time-varying controller is proposed to regulate a servo-system with stick-slip friction. The controller has the advantage of simultaneously achieving zero regulating error and smoothness of motion. Only an upper bound on the maximum static friction torque is required for controller design. Lyapunov's second method is employed to prove the global asymptotic stability of the closed-loop system. Numerical simulations of regulating a servo-system with friction are presented as illustrations.

UR - https://www.webofscience.com/wos/woscc/full-record/WOS:A1995BE48V00055

UR - https://openalex.org/W1578133969

UR - https://www.scopus.com/pages/publications/0029529496

U2 - 10.1109/CCA.1995.555721

DO - 10.1109/CCA.1995.555721

M3 - Conference Paper

SP - 308

EP - 309

T2 - Proceedings of the 1995 IEEE Conference on Control Applications

Y2 - 28 September 1995 through 29 September 1995

ER -

Robust friction compensation for precise and smooth position regulation

Abstract

Conference

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