Global Asymptotic Stability of a PID Control System with Coulomb Friction - LAAS - Laboratoire d'Analyse et d'Architecture des Systèmes Access content directly
Journal Articles IEEE Transactions on Automatic Control Year : 2018

Global Asymptotic Stability of a PID Control System with Coulomb Friction

Abstract

For a point mass subject to Coulomb friction in feedback with a PID controller, we consider a model based on a differential inclusion comprising all the possible magnitudes of static friction during the stick phase and having unique solutions. We study the set of all equilibria and we establish its global asymptotic stability using a discontinuous Lyapunov-like function, and a suitable LaSalle's invariance principle. The well-posedness of the proposed model allows to establish useful robustness results, including an ISS property from a suitable input in a perturbed context. Simulation results are also given to illustrate our statements.

Domains

Automatic
Fichier principal
Vignette du fichier
20171105 (1).pdf (1.2 Mo) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-01700168 , version 1 (17-02-2018)

Identifiers

Cite

Andrea Bisoffi, Mauro da Lio, Andrew Teel, Luca Zaccarian. Global Asymptotic Stability of a PID Control System with Coulomb Friction. IEEE Transactions on Automatic Control, 2018, 63 (8), pp.2654-2661. ⟨10.1109/TAC.2017.2774443⟩. ⟨hal-01700168⟩
76 View
7 Download

Altmetric

Share

Gmail Facebook X LinkedIn More