Controller design for friction driven systems
The design of a ‘damping controller’ for friction driven systems is introduced. A state variable bristle model, the Lund-Grenoble (LuGre) model is used to describe the friction behavior between the two sliding surfaces in the friction interface. The controller design is based on Lyapunov technique in order to maximize the energy dissipated in a friction interface in an instantaneous and local sense. The introduced control design method will be applied to a smart structure, namely an active friction joint. As the control law requires the knowledge of immeasurable states, the design of an extended Kalman filter is introduced.
KeywordsNormal Force Friction Interface Active Vibration Control Friction Damper Passive Joint
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