Nonlinear friction compensation in harmonic drives with hysteresis

Author

Dhaouadi, Rached

Author_Institution

Sch. of Eng., American Univ. of Sharjah, United Arab Emirates

Volume

1

fYear

2003

fDate

20-24 July 2003

Firstpage

278

Abstract

In this paper, a new nonlinear observer-based controller is designed for the compensation of friction in harmonic drive systems with hysteresis. The hysteresis phenomenon in a harmonic drive system is described by a nonlinear differential equation representing the combination of nonlinear stiffness and nonlinear friction. An estimate of the non-measurable friction state is derived using a nonlinear observer structure to provide for asymptotic stability and position tracking. The performance of the proposed system is validated by computer simulation.

Keywords

asymptotic stability; drives; friction; hysteresis; motion compensation; nonlinear control systems; nonlinear differential equations; observers; position control; asymptotic stability; harmonic drive system; hysteresis; nonlinear differential equation; nonlinear friction compensation; nonlinear observer-based controller; nonlinear stiffness; position tracking; Control systems; Friction; Gears; Hysteresis; Mathematical model; Nonlinear control systems; Observers; Servomechanisms; State estimation; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on

Print_ISBN

0-7803-7759-1

Type

conf

DOI

10.1109/AIM.2003.1225108

Filename

1225108