Fast pointing control for systems with stick-slip friction

Ruh Hua Wu, Pi Cheng Tung

研究成果: 雜誌貢獻期刊論文同行評審

17 引文 斯高帕斯(Scopus)

摘要

A controller consisting of three schemes, one proportional gain, one pulse, and one ramp, is proposed to achieve precise and fast pointing control under the presence of stick-slip friction. Design of the controller is based on two distinctive features of friction, the varying sticking force and presliding displacement of contacts under static friction. The latter is the main idea behind the ramp scheme to accomplish the fast pointing task. Implementation of this multistage control strategy requires position measurement only. Experimental results demonstrate the effectiveness of the proposed controller for the desired performance.

原文???core.languages.en_GB???
頁(從 - 到)614-626
頁數13
期刊Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
126
發行號3
DOIs
出版狀態已出版 - 9月 2004

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