Publication Details

Webb, S., Li, Z. & Cook, C. David. (1997). Computer control of machines with friction for precise motion. Proceedings of the 1997 4th Annual Conference on Mechatronics and Machine Vision in Practice (pp. 32-37). United States: IEEE.


We study the problem of precise control of machines with static and Coulomb friction. An experimental X-Y testbed built for testing various control methods is described and initial experimental results are presented. A simple pole placement controller is designed for computer control of the X-Y testbed based on a generalised sampled-data hold. Robustness and stability of the controller are analysed. Simulation suggests that this controller is able to achieve precise position control even when parameters of both the dynamics of the machine and the characteristics of friction are unknown

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