Design of a Nonlinear Robust Compensator for Plant with Static Friction and Its Application to Position Control of a Pneumatic Valve

In this paper, a nonlinear robust compensation approach is proposed for plants with uncertain static friction. A simple first-order model with a nonlinear function is introduced to describe the static friction. The parameters of the compensator are determined so as to ensure the asymptotic stability...

Full description

Saved in:
Bibliographic Details
Published inNihon Kikai Gakkai ronbunshū. C Vol. 63; no. 612; pp. 2720 - 2724
Main Authors TURUTA, Koichi, SHIN, Tielong, TAMURA, Katsutoshi, HENMI, Noriaki, NAKAZAWA, Toru
Format Journal Article
LanguageJapanese
Published The Japan Society of Mechanical Engineers 25.08.1997
Subjects
Asymptotic stability
Control system synthesis
Friction
Mathematical models
Nonlinear Control
Pneumatic control equipment
Pneumatic Valve
Position control
Positioning
Robust Control
Robustness (control systems)
Static Friction
Valves (mechanical)
Online AccessGet full text

Cover

More Information
Summary:In this paper, a nonlinear robust compensation approach is proposed for plants with uncertain static friction. A simple first-order model with a nonlinear function is introduced to describe the static friction. The parameters of the compensator are determined so as to ensure the asymptotic stability of the error system between the plant and the given reference model. Finally, the compensator is applied to the position control of a pneumatic valve and experimental results are given to show the validity of the proposed approach.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:0387-5024
1884-8354
DOI:10.1299/kikaic.63.2720