Tracking control of mechanical systems in the presence of nonlinear dynamic friction effects

IEEE Transactions on Control Systems Technology

Volumn 7, Issue 4, 1999, Pages 446-456

  Vedagarbha, Praveen ^b   Dawson, Darren M ^a,b   Feemster, Matthew ^b  

^a IEEE

^b AMRL   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; CLOSED LOOP CONTROL SYSTEMS; COMPUTER SIMULATION; DYNAMICS; FRICTION; MATHEMATICAL MODELS; NONLINEAR SYSTEMS; PARAMETER ESTIMATION; POSITION CONTROL; TRACKING (POSITION);

MECHANICAL SYSTEMS; NONLINEAR OBSERVERS; TRACKING CONTROL; TRANSIENT RESPONSE;

CONTROL SYSTEM SYNTHESIS;

EID: 0033164653     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/87.772160     Document Type: Article

References (6)

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2. J. R. Rice and A. L. Ruina, "Stability of steady frictional slipping," J. Appl. Mechan., vol. 50, pp. 343-349, 1983.
3. A. L. Ruina, "Friction laws and instabilities: A quasistatic analysis of some dry frictional behavior," Ph.D. dissertation, Division of Engineering, Brown Univ., Providence, RI.
4. S. Sastry and M. Bodson, Adaptive Control Stability, Convergence, and Robustness. Englewood Cliffs, NJ: Prentice-Hall, 1989.
5. J. J. E. Slotine and W. Li, Applied Nonlinear Control. Englewood Cliffs, NJ: Prentice-Hall, 1991.
6. A. Tustin, "The effects of backlash and of speed-dependent friction on the stability of closed-cycle control systems," Proc. Inst. Elect. Eng., vol. 94, pt. 2A, pp. 143-151, 1947.