Analysis of undercompensation and overcompensation of friction in 1DOF mechanical systems

Putra, Devi; Nijmeijer, Henk; Wouw, Nathan van de

doi:10.1016/j.automatica.2007.01.021

Cited by 56 publications

(47 citation statements)

References 16 publications

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“…It has a great influence on control characteristics in high precision positioning systems. When the friction is not compensated correspondingly, it can induce limit cycle, chattering, tracking lag or steady-state error [28,25,21].…”

Section: Introductionmentioning

confidence: 99%

Temperature dependent friction estimation: Application to lubricant health monitoring

Márton

Linden

2012

Mechatronics

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Section: Introductionmentioning

confidence: 99%

Temperature dependent friction estimation: Application to lubricant health monitoring

Márton

Linden

2012

Mechatronics

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“…Instead of using the explicit form of solutions as [1, Lemma L2] depending on the nature of the eigenvalues of A, (20) is easily concluded from (19), the definition (18a), and |φ(…”

Section: A Coordinate Change and Discontinuous Lasalle Functionmentioning

confidence: 99%

“…This problem is a classical one in the friction literature (together with the point mass on a moving belt) and we will be able to prove the global asymptotic stability of the attractor having zero velocity, zero position and a bounded integral error. The use of a set-valued map for the friction force can be seen as quite natural and is taken into consideration in [7], [19], [26]: in [26] it is applied to uncontrolled multi-degree-of-freedom mechanical systems, in [19] to a PD controlled 1 degree-of-freedom system. The combination of set-valued friction laws and Lyapunov tools is also the subject of [17,.…”

mentioning

confidence: 99%

Global Asymptotic Stability of a PID Control System With Coulomb Friction

Bisoffi

Lio

Teel

et al. 2018

IEEE Trans. Automat. Contr.

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Abstract-We propose a model for representing a point mass subject to Coulomb friction in feedback with a PID controller, based on a differential inclusion comprising all the possible magnitudes of static friction during the stick phase. For this model we study the set of all equilibria and we establish its global asymptotic stability using a discontinuous Lyapunov-like function, and a suitable LaSalle's invariance principle. We finally use well-posedness of the proposed model to establish useful robustness results, including an ISS property from a suitable input in a perturbed context. Simulation results are also given to illustrate our statements.

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“…Dry friction may also cause other effects that deteriorate performance of motion control systems, such as the occurrence of periodic orbits; cf. [4,3]. In this paper sufficient conditions for structural stability of equilibrium sets are given, and bifurcations of equilibrium sets are studied.…”

Section: Introductionmentioning

confidence: 99%

“…The presence of equilibrium sets in engineering systems compromises position accuracy in motion control systems, such as robot positioning control; see e.g. [1][2][3]. Dry friction may also cause other effects that deteriorate performance of motion control systems, such as the occurrence of periodic orbits; cf.…”

Section: Introductionmentioning

confidence: 99%