Article
Control of Mechanical Systems with Dry Friction
Fecha
2012-03-15Registro en:
Revista Computación y Sistemas; Vol. 16 No. 1
1405-5546
Autor
Martínez, Roque
Álvarez, Joaquín
Institución
Resumen
Abstract. 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 underactuated mechanical system
with dry friction in the non-actuated joint is described.
Here, the control objective is to regulate the nonactuated
variable while the position and speed of the
actuated joint remain bounded. Performance issues of
the developed synthesis are illustrated with numerical
and experimental results.