Friction modeling and control: a comparative study

This paper summarizes ongoing research on controlling systems with friction being conducted at Picatinny Arsenal. Linear and variable structure compensation methods are considered. The compensation methods is tested in real time on the Apache gun test bed in the Advanced Drives and Weapon Stabilization Lab at Picatinny Arsenal. This paper presents comparisons of the simulation results. The compensation methods are rated for their ability to adapt when friction parameters are estimated incorrectly. In addition, they are rated for their ability to adapt when the plant friction model is different from the friction model assumed in the controller. The results from simulation are compared with the experimental results