Variable structure control of systems with uncertain nonlinear friction

Kwatny, Harry G.; Teolis, Carole; Mattice, M.

doi:10.1016/s0005-1098(02)00011-0

Cited by 38 publications

(21 citation statements)

References 7 publications

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“…The relation (22) with x c (0) = 0 implies relation (10). Consequently, due to the state estimation errors, the LQ cost associated with the controller (16) using (20) is bounded not by γ but by γ + κ, where…”

Section: The Above Relation Is Ensured Ifv (X CL (T) T)mentioning

confidence: 99%

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Dynamic output-feedback guaranteed cost control for linear systems with uniform input quantization

2010

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There have existed the researches on guaranteed cost control for systems with the dynamic or logarithmic quantizer; however, intensive studies not only on continuous-time output-feedback linear systems with uniform input quantization but also on guaranteed cost control for such systems have not been carried out thus far. This paper first solves the problem of guaranteeing the linear quadratic (LQ) cost for continuous-time output-feedback linear systems with uniform input quantization. The proposed outputfeedback controller comprises the main and the additional control parts. The former part is designed as a linear dynamic output-feedback controller for determining the fundamental characteristics of the system associated with the LQ cost, and the latter part is constructed as an integer multiple of the quantization level for eliminating the effect of uniform input quantization. The additional control part adopts the state estimate instead of the state itself, which causes the state estimation errors. By computing their quantity added to the upper bound of the LQ cost, this paper shows that the proposed controller still guarantees the LQ cost despite the state estimation errors.

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Section: The Above Relation Is Ensured Ifv (X CL (T) T)mentioning

confidence: 99%

“…3 may be caused in the implementation. Some methods to avoid this problem are used in [22,23]. In order to alleviate the chattering phenomenon shown in Fig.…”

Section: Numerical Examplementioning

confidence: 99%

Dynamic output-feedback guaranteed cost control for linear systems with uniform input quantization

2010

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“…Combining equation (14) and the first equation in (10) results in the sensitivity state equation of motion that is augmented to the system state equation and results in the equationẍ…”

Section: B Lp Desensitized Controlmentioning

confidence: 99%

“…Additional schemes developed for rigid body systems include internal-model following error control [7], PID and state feedback linearization control [8] and variable structure control in order to try to handle qualitatively different friction regimes [9], [10]. Nonlinear PID control has also been developed to overcome the stick-slip behavior of friction [11].…”

Section: Introductionmentioning

confidence: 99%

Rest-to-Rest Motion of an Experimental Flexible Structure subject to Friction: Linear Programming Approach

Kased

Singh

2005

AIAA Guidance, Navigation, and Control Conference and Exhibit

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Abstract-A linear programming approach designed to eliminate the residual vibration of the two-mass harmonic system subject to friction and undergoing a point-to-point maneuver is implemented. Techniques for non-robust and robust open loop controller design are explored. It is shown that consistent results can be obtained from experiments and the robustness against frequency uncertainty results in reduction in residual vibration as well as steady-state error.

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“…This approach is based on nonsmooth analysis and Lyapunov stability for nonsmooth systems and its application is limited to systems in strictfeedback form. A variable structure control design is presented in (Kwatny et al, 2002) for systems to deal with nonsmooth uncertainties. A variable structure controller is designed by using a multistate backstepping procedure.…”

Section: Introductionmentioning

confidence: 99%

Experimental results on output-feedback control of a nonsmooth rotor dynamic system

Bruin

Doris

Wouw

et al. 2007

IFAC Proceedings Volumes

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An experimental implementation of an output-feedback controller on a rotor dynamic system with set-valued friction is presented. The system exhibits coexisting stable/unstable equilibria and undesired friction-induced limit cycles. In the system, the friction and actuation are non-collocated, which prevents the application of standard friction compensation techniques. Therefore, an outputfeedback control strategy is proposed that eliminates the friction-induced limit cycling, stabilizes the desired equilibrium and is robust for uncertainties in the friction model. The effectiveness of the proposed control strategy is shown both in simulations and experiments.

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Variable structure control of systems with uncertain nonlinear friction

Cited by 38 publications

References 7 publications

Dynamic output-feedback guaranteed cost control for linear systems with uniform input quantization

Dynamic output-feedback guaranteed cost control for linear systems with uniform input quantization

Rest-to-Rest Motion of an Experimental Flexible Structure subject to Friction: Linear Programming Approach

Experimental results on output-feedback control of a nonsmooth rotor dynamic system

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