An Invariance Principle for Discontinuous Dynamic Systems With Application to a Coulomb Friction Oscillator
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Published:2000-02-04
Issue:4
Volume:122
Page:687-690
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ISSN:0022-0434
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Container-title:Journal of Dynamic Systems, Measurement, and Control
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language:en
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Short-container-title:
Author:
Alvarez Joaquin1, Orlov Iouri1, Acho Leonardo2
Affiliation:
1. Scientific Research and Advanced Studies Center of Ensenada, BC, Mexico, Electronics and Telecommunications Department 2. Universidad Auto´noma de Baja California, Unidad Ensenada, Mexico, Facultad de Ingenieri´a
Abstract
An invariance principle for a class of ordinary differential equations with discontinuous right-hand side is developed. Based on this principle, asymptotic stability of one-degree-of-freedom mechanical oscillators with Coulomb friction is studied. The system is shown to be asymptotically stabilizable via a static feedback of the position, unlike those systems with no friction, whose stabilization requires a dynamic feedback when the position is the only available measurement. Along with this development, a velocity observer is proposed. Theoretical results of the paper are supported by some numerical simulations which, in addition, carry out a finite-time convergence of the controller and the observer proposed. [S0022-0434(00)00804-2]
Publisher
ASME International
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
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