Self Tuning Based Control of Mechanical Systems with Friction

This paper presents a self tuning control algorithm for mechanical systems with friction. Mainly it applies the results of the identification procedures based on distributions theory to continuous time systems with friction. The tuning algorithm performs two actions: compensates the friction force and adapt s the parameters of a linear controller. There are defined the so called generalized friction dynamic systems (GFDS) as a closed loop structure around a smooth system with discontinuous feedback loops representing friction reaction vectors. Only GFDS with static friction models (SFM) are c considered in self tuning process. The proposed method is a batch on-line identification and tuning method because identification results are obtained during the system evolution after some time intervals but not in any time moment. The advantages of representing information by distributions are pointed out when special evolutions as sliding mode, or limit cycle can appear. Some experimental results are presented to illuminate its advantages and practical use.

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