Controller Design for Flexible Systems with Friction: Pulse Amplitude Control


Kim J-J., & Singh, T.


2004 AIAA Guidance, Navigation and Control Conference


In this paper, a technique to determine the pulse amplitude modulated control input for a frictional system is proposed. A user specified pulse width is used to initiate the motion so as to permit the system to coast to the desired final position after the final pulse, with zero residual oscillator where the first mass is under the influence of friction. Numerical simulation illustrates the effectiveness of the proposed technique.