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
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;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.611993
