Title :
On adaptive friction compensation without velocity measurement
Author :
Friedland, Bernard ; Mentzelopoulou, Sophia
Author_Institution :
Dept. of Electr. & Comput. Eng., New Jersey Inst. of Technol., Newark, NJ, USA
Abstract :
The estimation and compensation of friction that may be present in a control system in which the velocity cannot be directly measured are considered. The compensator uses two observers: one to estimate the velocity and another which uses the velocity estimate of the first to estimate the friction coefficient. Local stability of the system is shown, and favorable simulation results are presented
Keywords :
adaptive control; compensation; friction; position control; stability; adaptive friction compensation; friction coefficient measurement; local stability; velocity estimation; Adaptive algorithm; Adaptive control; Electric variables measurement; Equations; Friction; Observers; Q measurement; Stability; Velocity control; Velocity measurement;
Conference_Titel :
Control Applications, 1992., First IEEE Conference on
Conference_Location :
Dayton, OH
Print_ISBN :
0-7803-0047-5
DOI :
10.1109/CCA.1992.269721
