Servo constraint control for mechanical systems: friction force depending on control design

Control of Mechanical Systems with Dry Friction

A technique to design a dynamic continuous controller to regulate a class of full-actuated mechanical systems with dry friction is proposed. It is shown that the control eliminates the steady-state error and is robust with respect to parameter uncertainties. A simple method to find the parameters of the controller is also proposed. Moreover, an application of this result to control a 2-DOF unde...

Adaptive Piecewise Linear Controller for Servo Mechanical Control Systems

In this paper, an adaptive piecewise linear control scheme is proposed for improving the performance and response time of servo mechanical control systems. It is a gain stabilized control technique. No large phase lead compensations or pole zero cancellations are needed for performance improvement. Large gain is used for large tracking error to get fast response. Small gain is used between larg...

Integrated Mechatronic Design for Servo Mechanical Systems

Mechatronic systems typically exhibited high a degree of complexity due to the strong cross coupling of the involved different engineering disciplines such as mechanical, electronic and computer. This complexity originates from the large number of couplings on various levels of the contributing elements and components, coming from different disciplines. The difficulty for the design engineer in...

Servo Control Design

Friction Compensation in Servo Systems Using a Local Control Design Approach

Nonlinearities degrade considerably performances in motion control systems. Nonlinear friction is a major source of many serious problems such as wear, tracking errors and limit cycles. There has been an extensive research activity dealing with the design of compensating techniques. The approaches cited in the litterature can be divided into: free model compensation or model based compensation ...