Robustness evaluation of two control methods for friction compensation of PTP positioning systems

IEEE Conference on Control Applications - Proceedings

Volumn 2, Issue , 2003, Pages 1454-1458

  Wahyudi, ^a  

^a INTERNATIONAL ISLAMIC UNIVERSITY MALAYSIA   (Malaysia)

Author keywords

Compensation; Controller; Friction; Point to point; Positioning; Robustness

Indexed keywords

ACTUATORS; FEEDBACK CONTROL; FRICTION; NONLINEAR CONTROL SYSTEMS; PROPORTIONAL CONTROL SYSTEMS; SERVOMOTORS;

FRICTION COMPENSATION; NOMINAL CHARACTERISTIC TRAJECTORY FOLLOWING CONTROLLER; POINT-TO-POINT POSITIONING SYSTEMS;

ROBUSTNESS (CONTROL SYSTEMS);

EID: 0344064259     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (9)

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3. Duppont, P. and Armstrong-Helouvry, B., "Compensation Techniques for Servo with Friction", Proceeding of American Control Conference, (1993), pp. 1915-1919.
4. Armstrong-Helouvry, B., Dupont, P. and Canudas de Wit, C., "A Survey of Models, Analysis Tools and Compensation Method for the Control of Machine with Friction", Automatica, Vol. 30, (1994) pp. 1083-1138.
5. Cai, L. and Song, G., "A Smooth Robust Nonlinear Controller for Robot Manipulators with joint Stick-slip Friction", Proceeding of IEEE International Conference on Robotics and Automation, (1993), pp. 449-454.
6. Tataryn, P.D., Sepehri, N. and Srong, D., "Experimental Comparison of Some Compensation Techniques for the Control of Manipulators with Stick-slip Friction", Control Engineering Practice, Vol. 4, No. 9, (1996), pp. 1209-1219.
7. Sato, K., Wahyudi and Shimokohbe, A. "Design and Characteristics of Practical Control System for PTP Positioning (in Japanese)", Transaction of the Japan Society of Mechanical Engineers (Series C), Vol. 67, No. 664, pp. 222-228.
8. Wahyudi, Sato, K, and Shimokohbe, A., "Robustness Evaluation of New Practical Control Method for PTP Positioning Systems", Proceeding of 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, (2001), pp. 843-848.
9. Wahyudi, Sato, K. and Shimokohbe, A., "New Practical Control Method for PTP Positioning Systems: Robustness Evaluation", Proceeding of 10th International Conference on Precision Engineering, (2001), pp. 774-778.