Robust Nonlinear Stick-Slip Friction Compensation

Southward, Steve C.; Radcliffe, Clark J.; MacCluer, C. R.

doi:10.1115/1.2896469

Cited by 173 publications

(63 citation statements)

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“…With respect to classical solution theories, one cannot even define a solution, much less discuss its existence, uniqueness and stability. Filippov [33,34] has developed a solution concept for discontinuous differential equations, which was later used by many researchers for solution analysis of many engineering problems [35,36]. Therefore, before studying the stability, it is required to prove the existence, uniqueness and continuation of Filippov's solution for the dynamic system under investigation.…”

Section: Design and Experimental Evaluation Of A Qft Contact Task Conmentioning

confidence: 99%

Design and experimental evaluation of a QFT contact task controller for electro‐hydraulic actuators

Niksefat

Sepehri

2006

Intl J Robust & Nonlinear

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SUMMARYThis paper presents design and experimental evaluation of a robust contact task controller for an electrohydraulic actuator that operates under significant system uncertainties and nonlinearities. The designed controller allows the actuator to follow a free space trajectory, and upon contact with an uncertain environment exert a desired force, by stably passing through the transition phase from free space to constrained space. The scheme is essentially the combination of two distinct control laws that are individually designed for position regulation in free space and force regulation during sustained contact. Both controllers are designed, using a nonlinear approach within the framework of quantitative feedback theory (QFT), to satisfy a priori specified stability, tracking and disturbance rejection specifications. They are then combined with a simple switching law to form a contact task controller. Due to the existence of a switching, the resulting control system is non-smooth. The stability of the controller is then analysed using an extended version of Lyapunov's second method under the condition of existence and uniqueness of Filippov's solution. Experiments, performed on a typical industrial hydraulic actuator, include motion through free space, contact with the environment and the transition between the two. The proposed QFT contact task control scheme enjoys the simplicity of fixed-gain controllers, is easy to implement, requires very little computational effort, is robust to the variation of hydraulic functions as well as environmental stiffness, and results in responses with good performance in both transient and steady-state periods. Additionally, the controller only requires measured contact force and actuator position as feedback; this makes the controller attractive for industrial implementation.

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Section: Design and Experimental Evaluation Of A Qft Contact Task Conmentioning

confidence: 99%

Design and experimental evaluation of a QFT contact task controller for electro‐hydraulic actuators

Niksefat

Sepehri

2006

Intl J Robust & Nonlinear

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“…The equation describing the dry friction force between the contacting surfaces can be mathematically represented as follows: [15][16][17][18][19] …”

Section: Mathematical Model Of the Valve Manifoldmentioning

confidence: 99%

Air recovery assessment on high-pressure pneumatic systems

Trujillo

Gámez-Montero

Macià

2016

Proceedings of the Institution of Mechanical Engineers, Part C:

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A computational simulation and experimental work of the fluid flow through the pneumatic circuit used in a stretch blow moulding machine is presented in this paper. The computer code is built around a zero-dimensional thermodynamic model for the air blowing and recycling containers together with a non-linear time-variant deterministic model for the pneumatic three stations single acting valve manifold, which, in turn, is linked to a quasi-one-dimensional unsteady flow model for the interconnecting pipes. The flow through the pipes accounts for viscous friction, heat transfer, cross-sectional area variation, and entropy variation. Two different solving methods are applied: the method of characteristics and the HLL Riemann first-order scheme. The numerical model allows prediction of the air blowing process and, more significantly, permits determination of the recycling rate at each operating cycle. A simplified experimental set-up of the industrial process was designed, and the pressure and temperature were adequately monitored. Predictions of the blowing process for various configurations proved to be in good agreement with the measured results. In addition, a novel design of a valve manifold intended for the polyethylene terephthalate (PET) plastic bottle manufacturing industry is also presented.[AQ1]

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“…In many practical situations it may be desirable that a given system originally undergoing complicated behavior should be forced to display regular motions (e.g., suppression of oscillatory dynamics). For instance, it could be desirable to induce regular dynamics in mechanical oscillators to avoid errors (as in the case of precise position mechanisms) lead by external vibrations and magnetic fields (Chatterjee, 2007;Fradkov & Pogromsky, 1998;Southward et al, 1991). To deal with systems with friction, it is necessary to have a good characterization of the structure of the friction model and then to design appropriate compensation techniques.…”

Section: Introductionmentioning

confidence: 99%