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Robust impulsive control of motion systems with uncertain friction
Author(s) -
van de Wouw N.,
Leine R. I.
Publication year - 2011
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1694
Subject(s) - control theory (sociology) , robustness (evolution) , robust control , motion control , convergence (economics) , position (finance) , computer science , point (geometry) , set point , class (philosophy) , set (abstract data type) , control (management) , mathematics , control system , engineering , control engineering , artificial intelligence , robot , economics , biochemistry , chemistry , geometry , finance , economic growth , electrical engineering , gene , programming language
SUMMARY In this paper, we consider the robust set‐point stabilization problem for motion systems subject to friction. Robustness aspects are particularly relevant in practice, where uncertainties in the friction model are unavoidable. We propose an impulsive feedback control design that robustly stabilizes the set‐point for a class of position‐, velocity‐and time‐dependent friction laws with uncertainty. Moreover, it is shown that this control strategy guarantees the finite‐time convergence to the set‐point which is a favorable characteristic of the resulting closed loop from a transient performance perspective. The results are illustrated by means of a representative motion control example. Copyright © 2011 John Wiley & Sons, Ltd.