Stick-slip and convergence of feedback-controlled systems with Coulomb friction
Systems and Control
2021-09-30 v3 Systems and Control
Abstract
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.
Keywords
Cite
@article{arxiv.2006.08977,
title = {Stick-slip and convergence of feedback-controlled systems with Coulomb friction},
author = {Michael Ruderman},
journal= {arXiv preprint arXiv:2006.08977},
year = {2021}
}
Comments
14 pages, 8 figures