Abstract
An experimental implementation of an output-feedback controller on a rotor dynamic system with set-valued friction is presented. The system exhibits coexisting stable/unstable equilibria and undesired friction-induced limit cycles. In the system, the friction and actuation are non-collocated, which prevents the application of standard friction compensation techniques. Therefore, an output feedback control strategy is proposed that eliminates the friction-induced limit cycling, stabilizes the desired equilibrium and is robust for uncertainties in the friction model. The effectiveness of the proposed control strategy is shown both in simulations and experiments.
| Original language | English |
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| Title of host publication | Proceedings of the 3rd IFAC Workshop (PSYCO'07), 29-31 August 2007, Saint Petersburg, Russia |
| Place of Publication | Russian Federation, St Petersburg |
| Pages | Accepted- |
| Publication status | Published - 2007 |