DocumentCode
2881544
Title
Friction compensation for drives with and without transmission compliance
Author
Jain, S. ; Khorrami, F. ; Ahmad, N. ; Sankaranarayanan, S.
Author_Institution
Dept. of Electr. Eng., Polytech. Univ., Brooklyn, NY, USA
Volume
5
fYear
1997
fDate
4-6 Jun 1997
Firstpage
2925
Abstract
In this paper, nonlinear robust adaptive controller is proposed for friction compensation. The design has been performed for a six parameter dynamic model of friction. The advocated control design does not utilize any knowledge of these six parameters and requires just an upper bound on the static friction level, which can be obtained experimentally. The controller is robust to dynamic uncertainties and can compensate the effect of friction which is separated from the control input through drive compliance. Simulation and experimental results are also presented
Keywords
DC motor drives; adaptive control; compensation; dynamics; force control; friction; nonlinear control systems; robust control; DC motor drives; adaptive control; dynamic model; friction compensation; nonlinear control systems; robust control; upper bound; Adaptive control; Control design; Friction; Laboratories; Programmable control; Robot control; Robust control; Temperature; Torque; Upper bound;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1997. Proceedings of the 1997
Conference_Location
Albuquerque, NM
ISSN
0743-1619
Print_ISBN
0-7803-3832-4
Type
conf
DOI
10.1109/ACC.1997.611993
Filename
611993
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