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.
|Title of host publication||Proceedings of the 2003 American control conference, ACC : June 4-6, 2003, Denver, Colorado, USA|
|Place of Publication||Piscataway|
|Publisher||Institute of Electrical and Electronics Engineers|
|Publication status||Published - 2003|