Robust friction compensation for precise and smooth position regulation
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In this paper, a smooth robust time-varying controller is proposed to regulate a servo-system with stick-slip friction. The controller has the advantage of simultaneously achieving zero regulating error and smoothness of motion. Only an upper bound on the maximum static friction torque is required for controller design. Lyapunov's second method is employed to prove the global asymptotic stability of the closed loop system. Numerical simulations of regulating a servo-system with friction are presented as illustrations.
The article of record as published may be found at http://dx.doi.org/10. 1109/CCA.1995.555721
RightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
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