In this paper a hybrid system approach is considered to deal with backlash and friction induced nonlinearities in mechanical control systems. To describe the low velocity frictional behaviour a linearized friction model is proposed. The novelty of this study is that based on the introduced friction model, the stability theorems developed for hybrid systems can directly be applied for controller design of mechanical systems in the presence of Stribeck friction and backlash. During the controller design it is assumed that the size of the backlash gap is unknown and the load side position and velocity cannot be measured. For motion control an LQ controller is applied. A condition is formulated for the control law parameters to guarantee...
This thesis investigates frictional effects on the stabilization of a rotating inverted pendulum. Be...
This paper describes the application of differential geometry and nonlinear systems analysis to the ...
A study of different classes of controllers for mechanisms under the influence of low velocity frict...
In this paper the control of mechanical systems in the presence of nonlinear friction and backlash i...
Friction is a non-linear phenomena virtually present in all mechanisms with relative motion. It is a...
To achieve a high level of performance, frictional effects have to be addressed by considering an ac...
A novel approach for modeling and control of servo systems with backlash and friction is proposed ba...
Abstract: In this paper, we focus on the analysis and control of a simple rigid-body mechanical syst...
This paper analyses the dynamical properties of systems with nonlinear friction and backlash phenome...
Control of mechanical systems with backlash is a topic well studied by many control practitioners. T...
A frequent problem encountered in the stabilization of a dynamic system supported by a moving base i...
Friction is one of the most frequently appearing sources of problems in mechanical systems. While se...
Friction compensation of an electromechanical friction clutch mechanism capable of restraining motio...
The main objectives of this research are to develop a control- oriented dynamic model for geared ser...
This paper describes the application of differential geometry and nonlinear systems analysis to the ...
This thesis investigates frictional effects on the stabilization of a rotating inverted pendulum. Be...
This paper describes the application of differential geometry and nonlinear systems analysis to the ...
A study of different classes of controllers for mechanisms under the influence of low velocity frict...
In this paper the control of mechanical systems in the presence of nonlinear friction and backlash i...
Friction is a non-linear phenomena virtually present in all mechanisms with relative motion. It is a...
To achieve a high level of performance, frictional effects have to be addressed by considering an ac...
A novel approach for modeling and control of servo systems with backlash and friction is proposed ba...
Abstract: In this paper, we focus on the analysis and control of a simple rigid-body mechanical syst...
This paper analyses the dynamical properties of systems with nonlinear friction and backlash phenome...
Control of mechanical systems with backlash is a topic well studied by many control practitioners. T...
A frequent problem encountered in the stabilization of a dynamic system supported by a moving base i...
Friction is one of the most frequently appearing sources of problems in mechanical systems. While se...
Friction compensation of an electromechanical friction clutch mechanism capable of restraining motio...
The main objectives of this research are to develop a control- oriented dynamic model for geared ser...
This paper describes the application of differential geometry and nonlinear systems analysis to the ...
This thesis investigates frictional effects on the stabilization of a rotating inverted pendulum. Be...
This paper describes the application of differential geometry and nonlinear systems analysis to the ...
A study of different classes of controllers for mechanisms under the influence of low velocity frict...