Modeling and Control of a Pendubot with Static Friction

2014 ◽  
pp. 229-240 ◽  
Author(s):  
Sergio Sánchez-Mazuca ◽  
Israel Soto ◽  
Ricardo Campa
Keyword(s):  
Static Friction ◽  
Modeling And Control ◽  
And Control

Modeling and Control Design for a Wheeled Mobile Platform

2013 ◽  
Author(s):  
Byungchan Jung ◽  
Henryk Flashner ◽  
Jill McNitt-Gray
Keyword(s):  
Static Friction ◽  
Friction Model ◽  
Control Law ◽  
Modeling And Control ◽  
Lugre Friction Model ◽  
Backstepping Approach ◽  
Tracking Controllers ◽  
Friction Models ◽  
Lugre Friction ◽  
And Control

A model of a wheeled platform that includes slipping is formulated. Slipping is modeled by adopting the LuGre friction model. This is a dynamic friction model that can reproduce realistic friction phenomena not present in static friction models. Using the backstepping approach, tracking controllers for non-slipping and slipping cases are developed and compared via simulation. The proposed control law is designed to be robust with respect to the change in system parameters such as the platform’s mass and moment inertia. Simulation results show good performance for point stabilization in specific destination postures, as well as for tracking.

Modeling and Control for Plant Dynamics Based on Reinforcement Learning

2009 ◽  
Vol 129 (4) ◽  
pp. 363-367
Author(s):  
Tomoyuki Maeda ◽  
Makishi Nakayama ◽  
Hiroshi Narazaki ◽  
Akira Kitamura
Keyword(s):  
Reinforcement Learning ◽  
Modeling And Control ◽  
Plant Dynamics ◽  
And Control

MODELING AND CONTROL OF HORIZONTAL FLEXIBLE PLATE USING PID-CS CONTROLLER

2019 ◽  
Vol 42 (4) ◽  
pp. 138-142
Author(s):  
Mohammed Jawad Mohammed ◽  
Majida Khalil Ahmed ◽  
Basma Abdullah Abbas
Keyword(s):  
Flexible Plate ◽  
Modeling And Control ◽  
And Control
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