Adaptive Estimation of Friction Forces with Fuzzy Basis Function Expansion

Author

Mitsunaga, Kouichi ; Matsuo, Takami

Author_Institution

Control Eng. Dept., Oita Inst. of Technol.

fYear

2006

Firstpage

4481

Lastpage

4486

Abstract

In this note, we design adaptive observers to estimate the nonlinear friction model when the output is the velocity and the position, respectively. First, two adaptive observer are designed to estimate the viscous friction force in the velocity measurement and in the position measurement, respectively. Secondly, the kinetic friction force and the dynamic friction force are estimated by the fuzzy adaptive observers in the position measurement. Finally, simulation results for the proposed observers are presented

Keywords

adaptive estimation; adaptive systems; friction; fuzzy systems; nonlinear systems; observers; dynamic friction force estimation; fuzzy adaptive observer design; fuzzy basis function expansion; kinetic friction force estimation; nonlinear friction model estimation; position measurement; velocity measurement; viscous friction force adaptive estimation; Adaptive estimation; Force measurement; Friction; Function approximation; Kinetic theory; Manipulator dynamics; Observers; Position measurement; Torque control; Velocity measurement; Nonlinear friction; adaptive observer; fuzzy basis function expansion;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE-ICASE, 2006. International Joint Conference

Conference_Location

Busan

Print_ISBN

89-950038-4-7

Electronic_ISBN

89-950038-5-5

Type

conf

DOI

10.1109/SICE.2006.315032

Filename

4108467