Open AccessSimple relay non‐linear PD control for faster and high‐precision motion systems with friction
Author(s) -
Zheng Chunhong,
Su Yuxin,
Mercorelli Paolo
Publication year - 2018
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2018.5715
Subject(s) - control theory (sociology) , lemma (botany) , relay , simple (philosophy) , exponential stability , lyapunov function , controller (irrigation) , stability (learning theory) , computer science , motion control , transient (computer programming) , mathematics , control (management) , nonlinear system , artificial intelligence , power (physics) , philosophy , physics , epistemology , ecology , poaceae , machine learning , agronomy , biology , operating system , quantum mechanics , robot
This study addresses the problem of robust faster and high‐precision positioning of uncertain one‐degree‐of‐freedom mechanical systems with friction. A very simple relay non‐linear proportional–derivative (PD) controller is proposed. Global asymptotic positioning stability is proven by Lyapunov's direct method invoking Barbalat's lemma. The appealing features of the proposed control are that it is fairly easy to construct with simple intuitive structure and without reference to modelling parameter and the ability to ensure global asymptotic positioning stability featuring faster transient and higher steady‐state precision. Simulations and experiments demonstrate the effectiveness and improved performance of the proposed approach.