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

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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.

Original languageEnglish
JournalIET Control Theory and Applications
Volume12
Issue number17
Pages (from-to)2302-2308
Number of pages7
ISSN1751-8644
DOIs
Publication statusPublished - 27.11.2018

Bibliographical note

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

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