论文标题
与库仑摩擦的反馈控制系统的粘性和收敛性
Stick-slip and convergence of feedback-controlled systems with Coulomb friction
论文作者
论文摘要
提供了对反馈控制的运动系统中具有不连续库仑摩擦的反馈控制运动系统中轨迹行为和收敛性的分析。事实证明，围绕不变平衡集的封闭形式的参数依赖性陈述区域始终可以达到且具有吸引力。结果表明，只有至少一个但大多数是无限的连续滑动循环，与初始条件无关。理论发展由许多数值结果支持，其中包括专用收敛示例。
An analysis of stick-slip behavior and convergence of trajectories in the feedback-controlled motion systems with discontinuous Coulomb friction is provided. A closed-form parameter-dependent stiction region, around an invariant equilibrium set, is proved to be always reachable and globally attractive. It is shown that only asymptotic convergence can be achieved, with at least one but mostly an infinite number of consecutive stick-slip cycles, independent of the initial conditions. Theoretical developments are supported by a number of numerical results with dedicated convergence examples.
