PFC-Based Control of Friction-Induced Instabilities in Drive Systems

Golovin, Ievgen; Palis, Stefan

doi:10.3390/machines9070134

Cited by 3 publications

(1 citation statement)

References 28 publications

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“…Kim et al [21] used feedforward compensation for the synchronization of a multi-agent system to achieve faster convergence. Golovin and Palis [22,23] used feedforward compensation for stabilizing an electromechanical system with friction-induced instabilities. Here, we seek suitable feedforward and feedback compensators, both stable and proper, to stabilize the inverted pendulum using only the cart position as output.…”

Section: Introductionmentioning

confidence: 99%

Balancing a Stick With Eyes Shut: Inverted Pendulum on a Cart Without Angle Measurement

Goswami

Chatterjee

2023

Journal of Dynamic Systems, Measurement, and Control

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We consider linear time-invariant dynamic systems in the single-input, single-output (SISO) framework. In particular, we consider stabilization of an inverted pendulum on a cart using a force on the cart. This system is easy to stabilize with pendulum angle feedback. However, with cart position feedback it cannot be stabilized with stable and proper compensators. Here we demonstrate that with an additional compensator in a parallel feedforward loop, stabilization is possible with such compensators. Sensitivity to noise seems to be about 3 times worse than for the situation with angle feedback. For completeness, discussion is presented of compensator parameter choices, robustness, fragility and comparison with another control approach.

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Section: Introductionmentioning

confidence: 99%

Balancing a Stick With Eyes Shut: Inverted Pendulum on a Cart Without Angle Measurement

Goswami

Chatterjee

2023

Journal of Dynamic Systems, Measurement, and Control

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Cascade architecture for nonlinear control of transient and stationary regimes of friction-induced vibrations

Nechak

Morin

2022

Nonlinear Dyn

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This paper presents a new control approach for mitigating Friction-Induced Vibration (FIV) issued from the mode-coupling mechanism. The key idea is to put the friction system onto a cascade of independent subsystems by using a first stage control. Then, a second stage control is defined and proven to be much more efficient for controlling both the transient and stationary regimes of the FIV. Asymptotic stabilization is formally demonstrated for the whole control scheme. Moreover, by numerical simulations, it is shown that the performances of the closed loop systems present an interesting robustness with respect to parameter uncertainty and to the saturation phenomenon which opens up promising practical perspectives for the proposed control technique.

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Parallel compensator for zero dynamics stabilization in fluidized bed spray granulation

Palis

2022

Journal of Process Control

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PFC-Based Control of Friction-Induced Instabilities in Drive Systems

Cited by 3 publications

References 28 publications

Balancing a Stick With Eyes Shut: Inverted Pendulum on a Cart Without Angle Measurement

Balancing a Stick With Eyes Shut: Inverted Pendulum on a Cart Without Angle Measurement

Cascade architecture for nonlinear control of transient and stationary regimes of friction-induced vibrations

Parallel compensator for zero dynamics stabilization in fluidized bed spray granulation

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