Adaptive Pulse Width Control for Precise Positioning Under the Influence of Stiction and Coulomb Friction

[+] Author and Article Information
Sangsik Yang, Masayoshi Tomizuka

Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA 94720

J. Dyn. Sys., Meas., Control 110(3), 221-227 (Sep 01, 1988) (7 pages) doi:10.1115/1.3152675 History: Received October 15, 1986; Online July 21, 2009


Conventional linear digital control fails to provide precise positioning of a control object under the influence of static friction, Coulomb friction, and backlash. This paper presents an adaptive pulse width control (PWC) scheme for a precise point-to-point positioning system. This scheme is developed based on the relationship between the displacement of a control object due to a single pulse input and the pulse width. The coefficient appearing in this relationship is estimated by a parameter adaptation algorithm. Sufficient conditions for asymptotic stability of this adaptive scheme are developed using Popov hyperstability theorem. This adaptive PWC is tested on a laboratory positioning table and is shown to be effective.

Copyright © 1988 by ASME
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