Analysis of friction controlled motion

摘要: Control of motion through base excitation is considered for the unique circumstance where friction primary component interaction force. With a focus on Dahl model, it shown that equations can be divided into two cases: ‘large’ and ‘small’ friction. When analyzed in this manner, corresponding models take distinct forms, which subsequently lead to different approaches control design analysis. The case large leads linear system with an unknown disturbance, bound related constants thus allowing application standard methods. small similar Coulomb within framework sliding mode control. For both circumstances, relations between variables are derived guarantee position tracking performance absence disturbance.