Control of nonlinear systems with friction

descriptionPublicationkeyboard_double_arrow_right Article 01 Jan 1999Publisher:Institute of Electrical and Electronics Engineers (IEEE)Journal:IEEE Transactions on Control Systems Technology, volume 7, pages 588-595 (issn: 1063-6536,

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Authors: Ronald M. Hirschorn; Gina Miller;

doi: 10.1109/87.784422

Control of nonlinear systems with friction

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Abstract

We introduce a continuous dynamic controller for a class of nonlinear systems which includes mechanical system models with a bristle model for nonlinear friction effects. We obtain sufficient conditions for global stabilization using an estimate for bristle defection and present experimental results illustrating the benefits of our dynamic controller in the regulation of a high-speed linear positioning table.

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Queen's University
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