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

DOI10.1007/978-3-540-85640-5_9MaRDI QIDQ3564537zbMATH OpenOpenAlexFDO

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

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)

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Cites work

• scientific article; zbMATH DE number 53638 (Why is no real title available?)
• 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

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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