Stability of PDF Controller With Stick-Slip Friction Device

[+] Author and Article Information
Jia-Yush Yen, Chih-Jung Huang, Shu-Shung Lu

Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan

J. Dyn. Sys., Meas., Control 119(3), 486-490 (Sep 01, 1997) (5 pages) doi:10.1115/1.2801283 History: Received September 20, 1994; Online December 03, 2007


This paper presents the precision control of drive devices with significant stick-slip friction. The controller design follows the Pseudo-Derivative Feedback (PDF) control algorithm. Using the second order system model, the PDF controller offers arbitrary pole placement. In this paper, the stability proof for the controller with stick-slip friction is presented. On the basis of this proof, the stability criteria are derived. The paper also includes both the computer simulation and the experimental works to confirm the theoretical result. The experiments conducted on a Traction Type Drive Device (TTDD) shows that control accuracy of as high as ±1 arc – second is achieved.

Copyright © 1997 by The American Society of Mechanical Engineers
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