On adaptive friction compensation

Author

Friedland, Bernard ; Park, Young-Jin

Author_Institution

New Jersey Inst. of Technol., Newark, NJ, USA

Volume

37

Issue

10

fYear

1992

fDate

10/1/1992 12:00:00 AM

Firstpage

1609

Lastpage

1612

Abstract

A method of compensating for friction in control systems is presented. The method entails the use of an observer to estimate the friction which is modeled as a constant times the sign of the velocity. The purpose of the observer is to estimate this constant. The observer model is selected to ensure that the error in estimation of the friction constant converges asymptotically to zero. Simulation results verify the theory and show that the method can significantly improve the performance of a control system in which it is used. Although based on the assumption of a constant friction magnitude, the observer displays the ability to `track´ friction whose magnitude depends on velocity

Keywords

State estimation; adaptive control; compensation; control system analysis; friction; mechanical variables control; state estimation; adaptive control; adaptive friction compensation; control systems; friction constant; mechanical variables control; observer; Control system synthesis; Control systems; Design methodology; Displays; Estimation error; Force control; Force measurement; Friction; Mechanical systems; Torque control;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.256395

Filename

256395