TY - GEN
T1 - Impulsive control of a mechanical oscillator with friction
AU - Orlov, Yury
AU - Santiesteban, Raul
AU - Aguilar, Luis T.
PY - 2009
Y1 - 2009
N2 - Undesired dynamics (stick-slip motions, limit cycles, etc.) that appear in friction systems result in steadystate errors, limiting achievable performance. To enhance the performance a novel control approach counteracting friction effects is developed. The approach is based on an impulsive actuation while the underlying system is getting stuck due to the presence of dry friction. A spring-mass system serves as a simple test bed. Asymptotic stabilization is achieved not only for the nominal model but also for its perturbed version provided that external disturbances affecting the system are of sufficiently small magnitude.
AB - Undesired dynamics (stick-slip motions, limit cycles, etc.) that appear in friction systems result in steadystate errors, limiting achievable performance. To enhance the performance a novel control approach counteracting friction effects is developed. The approach is based on an impulsive actuation while the underlying system is getting stuck due to the presence of dry friction. A spring-mass system serves as a simple test bed. Asymptotic stabilization is achieved not only for the nominal model but also for its perturbed version provided that external disturbances affecting the system are of sufficiently small magnitude.
UR - http://www.scopus.com/inward/record.url?scp=70449627771&partnerID=8YFLogxK
U2 - 10.1109/ACC.2009.5159821
DO - 10.1109/ACC.2009.5159821
M3 - Contribución a la conferencia
AN - SCOPUS:70449627771
SN - 9781424445240
T3 - Proceedings of the American Control Conference
SP - 3494
EP - 3499
BT - 2009 American Control Conference, ACC 2009
T2 - 2009 American Control Conference, ACC 2009
Y2 - 10 June 2009 through 12 June 2009
ER -