Adaptive pulse amplitude pulse width control of systems subject to Coulomb and viscous friction

J.J.M. Wijdeven, van de, T. Singh

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

7 Citations (Scopus)
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Abstract

The focus of this paper is on adaptive controlof maneuvering rigid bodies in the presence offriction. The paper describes a simple techniquewhich include Pulse Amplitude and Pulse Widthmodulation to progressively move the system tothe desired final position. To account for uncertaintyin estimated friction coe±cients and approximatedsystem model, an adaptation algorithmis necessary to accurately track the desiredposition. The proposed technique is suited for discretetime implementation and is illustrated ona rest-to-rest maneuver. The proposed techniqueis shown to considerably reduce the steady stateerror which exists in previously proposed PulseWidth controllers.
Original languageEnglish
Title of host publicationProceedings of the 2003 American control conference, ACC : June 4-6, 2003, Denver, Colorado, USA
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages1068-1073
ISBN (Print)0-7803-7896-2
Publication statusPublished - 2003

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