Stephen van Duin, Matthias Ahlswede, Christopher D. Cook



This paper presents a modified impulse controller that is used to improve the velocity tracking of a servomechanism having characteristics of high nonlinear friction. A hybrid control scheme consisting of a conventional PID part and an impulsive part is used as a basis to the modified controller. This has previously been used to improve the position and velocity tracking of robot manipulators at very low velocities. Experiments show that at higher velocities the improved performance of the impulse part of the hybrid controller diminishes and can be counterproductive at these speeds when compared to conventional PID control alone. The modified hybrid impulse controller in this paper uses a mathematical function to transition the amount of torque from an impulse as a function of velocity to achieve more precise tracking across a range of velocities.


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Paper Citation

in Harvard Style

van Duin S., Ahlswede M. and Cook C. (2009). TRANSITION VELOCITY FUNCTION FOR IMPULSE CONTROL SYSTEMS . In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, ISBN 978-989-8111-99-9, pages 213-221. DOI: 10.5220/0002207402130221

in Bibtex Style

author={Stephen van Duin and Matthias Ahlswede and Christopher D. Cook},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},

in EndNote Style

JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
SN - 978-989-8111-99-9
AU - van Duin S.
AU - Ahlswede M.
AU - Cook C.
PY - 2009
SP - 213
EP - 221
DO - 10.5220/0002207402130221