Simple relay non-linear PD control for faster and high-precision motion systems with friction

Publikation: Beiträge in ZeitschriftenZeitschriftenaufsätzeForschungbegutachtet

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Simple relay non-linear PD control for faster and high-precision motion systems with friction. / Zheng, Chunhong; Su, Yuxin; Mercorelli, Paolo.
in: IET Control Theory and Applications, Jahrgang 12, Nr. 17, 27.11.2018, S. 2302-2308.

Publikation: Beiträge in ZeitschriftenZeitschriftenaufsätzeForschungbegutachtet

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@article{b78d497ef4264a659e535ba693ffc289,
title = "Simple relay non-linear PD control for faster and high-precision motion systems with friction",
abstract = "This study addresses the problem of robust faster and high-precision positioning of uncertain one-degree-of-freedom mechanical systems with friction. A very simple relay non-linear proportional–derivative (PD) controller is proposed. Global asymptotic positioning stability is proven by Lyapunov's direct method invoking Barbalat's lemma. The appealing features of the proposed control are that it is fairly easy to construct with simple intuitive structure and without reference to modelling parameter and the ability to ensure global asymptotic positioning stability featuring faster transient and higher steady-state precision. Simulations and experiments demonstrate the effectiveness and improved performance of the proposed approach.",
keywords = "Engineering",
author = "Chunhong Zheng and Yuxin Su and Paolo Mercorelli",
note = "{\textcopyright} 2021 The Authors. IET Control Theory & Applications published by John Wiley & Sons, Ltd. on behalf of The Institution of Engineering and Technology",
year = "2018",
month = nov,
day = "27",
doi = "10.1049/iet-cta.2018.5715",
language = "English",
volume = "12",
pages = "2302--2308",
journal = "IET Control Theory and Applications",
issn = "1751-8644",
publisher = "The Institution of Engineering and Technology ",
number = "17",

}

RIS

TY - JOUR

T1 - Simple relay non-linear PD control for faster and high-precision motion systems with friction

AU - Zheng, Chunhong

AU - Su, Yuxin

AU - Mercorelli, Paolo

N1 - © 2021 The Authors. IET Control Theory & Applications published by John Wiley & Sons, Ltd. on behalf of The Institution of Engineering and Technology

PY - 2018/11/27

Y1 - 2018/11/27

N2 - This study addresses the problem of robust faster and high-precision positioning of uncertain one-degree-of-freedom mechanical systems with friction. A very simple relay non-linear proportional–derivative (PD) controller is proposed. Global asymptotic positioning stability is proven by Lyapunov's direct method invoking Barbalat's lemma. The appealing features of the proposed control are that it is fairly easy to construct with simple intuitive structure and without reference to modelling parameter and the ability to ensure global asymptotic positioning stability featuring faster transient and higher steady-state precision. Simulations and experiments demonstrate the effectiveness and improved performance of the proposed approach.

AB - This study addresses the problem of robust faster and high-precision positioning of uncertain one-degree-of-freedom mechanical systems with friction. A very simple relay non-linear proportional–derivative (PD) controller is proposed. Global asymptotic positioning stability is proven by Lyapunov's direct method invoking Barbalat's lemma. The appealing features of the proposed control are that it is fairly easy to construct with simple intuitive structure and without reference to modelling parameter and the ability to ensure global asymptotic positioning stability featuring faster transient and higher steady-state precision. Simulations and experiments demonstrate the effectiveness and improved performance of the proposed approach.

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85056301060&partnerID=8YFLogxK

U2 - 10.1049/iet-cta.2018.5715

DO - 10.1049/iet-cta.2018.5715

M3 - Journal articles

AN - SCOPUS:85056301060

VL - 12

SP - 2302

EP - 2308

JO - IET Control Theory and Applications

JF - IET Control Theory and Applications

SN - 1751-8644

IS - 17

ER -

DOI