Title :
Adaptive observers for servo systems with friction
Author :
Dixit, Amit ; Suryanarayanan, Shashikanth
Author_Institution :
Dept. of Mech. Eng., Indian Inst. of Technol. Bombay, Mumbai
Abstract :
We consider the problem of constructing adaptive observers for servo systems with friction. We show that if the friction force is modeled using currently popular dynamic friction models, currently available methods for constructing adaptive observers can not be applied. We suggest modifications for one such friction model: the LuGre friction model and point to several methods of constructing adaptive observers that can be applied to the modified system. Using one such method, we construct an adaptive observer to identify parameters of the model of an experimental setup. The results of the identification exercise are found to be encouraging.
Keywords :
adaptive control; friction; observers; servomechanisms; LuGre friction model; adaptive observer; dynamic friction model; friction force model; servo system; Adaptive control; Control systems; Friction; Motion control; Nonlinear systems; Observers; Predictive models; Programmable control; Servomechanisms; State estimation;
Conference_Titel :
Control Applications, 2008. CCA 2008. IEEE International Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
978-1-4244-2222-7
Electronic_ISBN :
978-1-4244-2223-4
DOI :
10.1109/CCA.2008.4629579
