Control of limit cycling in frictional mechanical systems

@inproceedings{Putra2004ControlOL,
  title={Control of limit cycling in frictional mechanical systems},
  author={Devi Putra},
  year={2004}
}
This chapter investigates limit cycling behavior of observer-based controlled mechanical systems with friction compensation. The limit cycling is induced by the interaction between friction and friction compensation, which is based on the estimated velocity. The limit cycling phenomenon, which is experimentally observed in a rotating arm manipulator, is analyzed through computational bifurcation analysis. The computed bifurcation diagram confirms that the limit cycles can be eliminated by… CONTINUE READING

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