On adaptive friction compensation

Author

Friedland, Bernard ; Park, Young-Jin

Author_Institution

Dept. of Electr. & Comput. Eng., New Jersey Inst. of Technol., Newark, NJ, USA

fYear

1991

fDate

11-13 Dec 1991

Firstpage

2899

Abstract

A method of compensating for friction in control systems is presented. The method entails the use of an observer to estimate the friction which is modeled as a constant times the sign of velocity. The purpose of the observer is to estimate this constant. The observer model is selected to ensure that the error in estimation of the friction constant converges asymptotically to zero. Simulation results verify the theory and show that the method can significantly improve the performance of a control system in which it is used. Although based on the assumption of a constant friction magnitude, the observer displays the ability to track friction whose magnitude depends on velocity

Keywords

adaptive control; compensation; control system analysis; mechanical variables control; state estimation; adaptive friction compensation; control systems; friction constant; friction model; observer; parameter estimation; Acceleration; Adaptive control; Control system synthesis; Control systems; Convergence; Displays; Estimation error; Force control; Force measurement; Friction; Programmable control; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1991., Proceedings of the 30th IEEE Conference on

Conference_Location

Brighton

Print_ISBN

0-7803-0450-0

Type

conf

DOI

10.1109/CDC.1991.261068

Filename

261068