Abstract
A controller consisting of three schemes, one proportional gain, one pulse, and one ramp, is proposed to achieve precise and fast pointing control under the presence of stick-slip friction. Design of the controller is based on two distinctive features of friction, the varying sticking force and presliding displacement of contacts under static friction. The latter is the main idea behind the ramp scheme to accomplish the fast pointing task. Implementation of this multistage control strategy requires position measurement only. Experimental results demonstrate the effectiveness of the proposed controller for the desired performance.
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