Improved positional accuracy of robots with high nonlinear friction using a modified impulse controller

DOI10.1007/978-3-540-85640-5_9zbMATH Open1188.93087OpenAlexW1539877728MaRDI QIDQ3564537FDOQ3564537

Authors: Stephen van Duin, Christopher D. Cook, Gursel Alici, Zheng Li 

Publication date: 2 June 2010

Published in: Informatics in Control, Automation and Robotics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-3-540-85640-5_9

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zbMATH Keywords

limit cycleaccuracyimpulse controlstick-slipstatic frictionfriction modelimpulse shape

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Design techniques (robust design, computer-aided design, etc.) (93B51) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

• A new model for control of systems with friction
• A survey of models, analysis tools and compensation methods for the control of machines with friction
• Title not available (Why is that?)

Cited In (2)

• Leaderless and leader-following consensus of heterogeneous second-order multi-agent systems on time scales: an asynchronous impulsive approach
• Practical implementation of a real-time iterative learning position controller

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