Artículos de revistas
On the control of a non-ideal engineering system: A friction-driven oscillating system with limited power supply
Fecha
2003-01-01Registro en:
Materials Science Forum, v. 440-441, p. 355-362.
0255-5476
10.4028/www.scientific.net/MSF.440-441.355
WOS:000188594100044
2-s2.0-0344927054
Autor
Universidade Estadual Paulista (Unesp)
Universidade de São Paulo (USP)
Institución
Resumen
In this work a switching feedback controller for stick-slip compensation of a 2-DOF mass-spring-belt system which interacts with an energy source of limited power supply (non-ideal case) is developed. The system presents an oscillatory behavior due to the stick-slip friction. As the system equilibrium for a conventional feedback controller is not the origin, a switching control law combining a state feedback term and a discontinuous term is proposed to regulate the position of the mass. The problem of tracking a desired periodic trajectory is also considered. The feedback system is robust with respect to the friction force that is assumed to be within known upper and lower bounds.