dc.contributor.author | Ruderman, Michael | |
dc.contributor.author | Fridman, Leonid M. | |
dc.date.accessioned | 2023-05-23T11:47:03Z | |
dc.date.available | 2023-05-23T11:47:03Z | |
dc.date.created | 2022-07-09T08:10:53Z | |
dc.date.issued | 2022 | |
dc.identifier.citation | Ruderman, M. & Fridman, L. M. (2022). Analysis of relay-based feedback compensation of Coulomb friction. 2022 16th International Workshop on Variable Structure Systems (VSS), 2022, 95-100. | en_US |
dc.identifier.issn | 2158-3986 | |
dc.identifier.uri | https://hdl.handle.net/11250/3068683 | |
dc.description | Author's accepted manuscript | en_US |
dc.description | © 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | |
dc.description.abstract | Standard problem of one-degree-of-freedom mechanical systems with Coulomb friction is revised for a relay-based feedback stabilization. It is recalled that a system with Coulomb friction is asymptotically stabilizable via a relay-based output feedback, as formerly demonstrated in [1]. Assuming an upper bounded Coulomb friction disturbance, a time-optimal gain of the relay-based feedback control is found by minimizing the derivative of the Lyapunov function proposed in [2] for the twisting algorithm. Furthermore, changing from the discontinuous Coulomb friction to a more physical discontinuity-free one, which implies a transient presliding phase at motion reversals, we analyze the residual steady-state oscillations, in the sense of stable limit cycles, in addition to chattering caused the by the actuator dynamics. The numerical examples and an experimental case study accompany the provided analysis. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | IEEE | en_US |
dc.relation.ispartof | Proceeding of IEEE 16th International Workshop on Variable Structure Systems | |
dc.relation.uri | https://arxiv.org/abs/2205.09352 | |
dc.title | Analysis of relay-based feedback compensation of Coulomb friction | en_US |
dc.type | Peer reviewed | en_US |
dc.type | Journal article | en_US |
dc.description.version | acceptedVersion | en_US |
dc.rights.holder | © 2022 IEEE | en_US |
dc.subject.nsi | VDP::Teknologi: 500 | en_US |
dc.source.pagenumber | 95-100 | en_US |
dc.source.volume | 2022 | en_US |
dc.source.journal | 2022 16th International Workshop on Variable Structure Systems (VSS) | en_US |
dc.identifier.doi | https://doi.org/10.1109/VSS57184.2022.9902091 | |
dc.identifier.cristin | 2037786 | |
dc.relation.project | EC/H2020/734832 | en_US |
cristin.qualitycode | 1 | |