Title :
Experimental results with observer-based nonlinear compensation of friction in a positioning system
Author :
Henrichfreise, Hermann ; Witte, Christian
Author_Institution :
Lab. of Mechatronics, Univ. of Appl. Sci., Cologne, Germany
Abstract :
Friction is an undesired phenomenon in many drive systems. Feedforward of a suitable estimate of friction is an effective method to compensate the friction-dependent position errors in the steady state. The speed of reconstruction of the real friction is crucial for the grade of improvements which can be achieved for the transient behaviour. A nonlinear model-based approach is presented in this paper which due to the reconstruction of the sign changes of friction yields good results. Moreover, the described control and compensation is easy to implement and turns out to be very robust in real operation
Keywords :
drives; feedforward; friction; linear quadratic Gaussian control; observers; position control; robust control; friction; friction-dependent position errors; nonlinear model-based approach; observer-based nonlinear compensation; positioning system; transient behaviour; Control design; Control systems; Drives; EMP radiation effects; Friction; Machine tools; Optimal control; Position control; State-space methods; Voltage control;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.676368
