Interpolating Control for Precision Positioning affected by pre-sliding Friction

Title: Interpolating Control for Precision Positioning affected by pre-sliding 
Friction
Speaker: Per-Olof Gutman, Technion

Date & Time: September 3rd, 14:15-15:00
Location: Seminar Room M 3170-73 in the M-building, LTH

Abstract:
It is demonstrated that  Interpolating Control (IC),  may suggest a 
suitable control algorithm for the control of positioning systems 
affected by friction when the velocity approaches zero and the friction 
enters pre-sliding. The control signal is generated by a controller 
designed as the interpolation between one controller designed for 
sliding, and  one designed for pre-sliding, resulting in a smooth 
movement, implying possibly reduced convergence time. The ALPEO friction 
model that includes pre-sliding, tuned by measurements, was used for the 
construction of the pre-sliding controller, but any other model from the 
literature could be attempted. Simulations were done on a generic 
two-mass system, and laboratory experiments are planned. The results are 
preliminary and show that the performance may be superior to a common 
ad-hoc solution.

Bio:

Per-Olof Gutman graduated from the Department of Automatic Control in 
Lund in 1982 as Ph.D # 22. He is now an Emeritus Professor from the 
Technion - Israel Institute of Technology in Haifa, and a consultant for 
Applied Materials, Rehovot, Israel.