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TECHNICAL PAPERS

Robust Nonlinear Control of Parametric Uncertain Systems With Unknown Friction and Its Application to a Pneumatic Control Valve

[+] Author and Article Information
Tielong Shen, Katsutoshi Tamura, Hiroshi Kaminaga

Department of Mechanical Engineering, Sophia University, Kioicho 7-1, Chiyoda-ku, Tokyo, Japan e-mail: tetu-sin@hoffman.cc.sophia.ac.jp

Noriaki Henmi, Toru Nakazawa

Engineering and R&D Department, Niigata Masoneilan Co., Limited, WBG2-5, Nakase, Mihama-ku, Chiba, Japan

J. Dyn. Sys., Meas., Control 122(2), 257-262 (May 28, 1997) (6 pages) doi:10.1115/1.482451 History: Received May 28, 1997
Copyright © 2000 by ASME
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References

Armstrong-Helouvry,  B., Dupont,  P., and Canuadas de Wit,  C., 1994, “A Survey of Models, Analysis Tools and Compensation Methods for the Control of Machines With Friction,” Automatica, 30, pp. 1083–1138.
Karnopp,  D., 1985, “Computer Simulation of Stick-Slip Friction in Mechanical Dynamic Systems,” ASME J. Dyn. Syst., Meas., Control, 107, pp. 100–103.
Haessig,  D. A., and Fredland,  B., 1991, “On the Modeling and Simulation of Friction,” ASME J. Dyn. Syst., Meas., Control, 113, pp. 354-362.
Canuadas de Wit,  C., Olsson,  H., Astrom,  K. J., and Lischinsky,  P., 1995, “A New Model for Control of Systems with Friction,” IEEE Trans. Autom. Control., 40, pp. 419–425.
Canuadas de Wit, C., and Seront, V., 1990, “Robust Adaptive Friction Compensation,” Proc. Int. Conf. on Robotics and Automation, Cincinnati, OH, pp. 1383–1388.
Bai,  E. W., 1997, “Parameterization and Adaptive Compensation of Friction Forces,” Int. J. Control Signal Proc.,11, pp. 21–31.
Southward,  S. C., Radcliffe,  C. J., and MacCluer,  C. R., 1991, “Robust Nonlinear Stick-Slip Friction Compensation,” ASME J. Dyn. Syst., Meas., Control, 113, pp. 639–645.
LaSalle, L., 1961, Stability by Lyapunov’s Direct Method With Application, Academic Press, San Diego.

Figures

Grahic Jump Location
Unknown static friction
Grahic Jump Location
Pneumatic control valve
Grahic Jump Location
Experimental results with PI controller
Grahic Jump Location
Experimental results with nonlinear controller

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