Abstract

SUMMARYThis paper describes the methods applicable to the modeling and control of mechanical contact, particularly those systems that experience uncertain stick/slip phenomena. Geometric kinematic reductions are used to reduce a system's description from a second-order dynamic model with frictional disturbances coming from a function space to a first-order model with frictional disturbances coming from a space of finite automata over a finite set. As a result, modeling for purposes of control is made more straight-forward by getting rid of some dependencies on low-level mechanics (in particular, the details of friction modeling). Moreover, the online estimation of the uncertain, discrete-valued variables has reduced sensing requirements. The primary contributions of this paper are the introduction of a simplifying representation of friction and formal tests for kinematic reducibility. Results are illustrated using a slip-steered vehicle model and an actuator array model.

Full Text
Paper version not known

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.