6533b7ddfe1ef96bd12749c2

RESEARCH PRODUCT

Stick-slip and convergence of feedback-controlled systems with Coulomb friction

Michael Ruderman

subject

Mathematical analysisMotion (geometry)PID controllerSlip (materials science)Systems and Control (eess.SY)Classification of discontinuitiesCoulomb frictionElectrical Engineering and Systems Science - Systems and ControlVDP::Teknologi: 500Mathematics (miscellaneous)Control and Systems EngineeringStictionConvergence (routing)FOS: Electrical engineering electronic engineering information engineeringElectrical and Electronic EngineeringInvariant (mathematics)Mathematics

description

An analysis of stick-slip behavior and convergence of trajectories in the feedback-controlled motion systems with discontinuous Coulomb friction is provided. A closed-form parameter-dependent stiction region, around an invariant equilibrium set, is proved to be always reachable and globally attractive. It is shown that only asymptotic convergence can be achieved, with at least one but mostly an infinite number of consecutive stick-slip cycles, independent of the initial conditions. Theoretical developments are supported by a number of numerical results with dedicated convergence examples.

yearjournalcountryeditionlanguage
2020-06-16
https://dx.doi.org/10.48550/arxiv.2006.08977