Global Asymptotic Stability of a PID Control System With Coulomb Friction
نویسندگان
چکیده
منابع مشابه
Global asymptotic stability of a PID control system with Coulomb friction
For a point mass subject to Coulomb friction in feedback with a PID controller, we consider a model based on a differential inclusion comprising all the possible magnitudes of static friction during the stick phase and having unique solutions. We study the set of all equilibria and we establish its global asymptotic stability using a discontinuous Lyapunovlike function, and a suitable LaSalle’s...
متن کاملGlobal Asymptotic Stability of Robot Manipulators with Linear Pid and Pid Control
In this note we address the problem of set-point control of robot manipulators with uncertain gravity knowledge by combining several previous contributions to PID control. The main contribution is a linear PID controller which ensures global asymptotic stability of the closed loop. The key feature of the controller is that the integration is started after a short transient. In the case of unmea...
متن کاملStability Characterizations of Fixtured Rigid Bodies with Coulomb Friction
This paper formally introduces several stability characterizations of £xtured three-dimensional rigid bodies initially at rest and in unilateral contact with Coulomb friction. These characterizations, weak stability and strong stability, arise naturally from the dynamic model of the system, formulated as a complementarity problem. Using the tools of complementarity theory, these characterizatio...
متن کاملGlobal Asymptotic Stability of a Max-Min Congestion Control Scheme
A number of congestion control schemes which adopt the max-min fairness criterion and do not require maintenance of per flow states within the network have been proposed in literature. The stability of some of these schemes in networks of arbitrary topology, has been established analytically only for small deviations about the equilibrium point. The establishment of global asymptotic stability ...
متن کاملGlobal Asymptotic and Exponential Stability of Tri-Cell Networks with Different Time Delays
In this paper, a bidirectional ring network with three cells and different time delays is presented. To propose this model which is a good extension of three-unit neural networks, coupled cell network theory and neural network theory are applied. In this model, every cell has self-connections without delay but different time delays are assumed in other connections. A suitable Lyapun...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 2018
ISSN: 0018-9286,1558-2523,2334-3303
DOI: 10.1109/tac.2017.2774443