Results 161 to 170 of about 504 (216)
Some of the next articles are maybe not open access.
Friction Compensation Control for Power Steering
IEEE Transactions on Control Systems Technology, 2016The effects of friction are critical to the dynamics of electric power steering (EPS). On the one hand, friction contributes to the stability of the system and filters some of the disturbances (road vibration, etc.). On the other hand, it negatively affects the driving feel and refrains from accurate positioning of the steering wheel.
Frédéric Wilhelm +3 more
openaire +2 more sources
Modeling and compensating friction in power steering
2015 European Control Conference (ECC), 2015Achieving steering feel that is independent from the inherent mechanical friction is a requirement that prevails in modern electric power steering (EPS) development. Friction affects both the vehicle performance (objective) and the steering feel (subjective).
Frédéric Wilhelm +3 more
openaire +3 more sources
Friction compensation for Nanopositioning and Nanomeasuring Machines
2010 11th IEEE International Workshop on Advanced Motion Control (AMC), 2010The presented work concerns the modeling and experimental verification of the highly nonlinear behavior in positioning on the nanometer scale. The main goal of this work is to identify and extend a simple dynamic friction model, which allows a model-based estimation of the friction force including the system inertia only based on a displacement input ...
Amthor, A. +2 more
openaire +2 more sources
Friction compensation and robust hybrid control
[1993] Proceedings IEEE International Conference on Robotics and Automation, 2002In force/position control, possible uncertainties about the manipulator parameters and the presence of friction and striction on the contact surfaces compromise the correct decoupling of the two controls and can sometimes cause instability. A fixed friction compensation function is constructed in order to achieve stability when friction and striction ...
BONA, Basilio, INDRI, Marina
openaire +3 more sources
Model-Based Friction Compensation
2004Compensation of nonlinear friction terms is a most challenging application of high resolution encoders, which are nowadays getting available for common industrial motion control and robotic applications. In fact, use of a high resolution sensor allows a neat analysis of the dynamic behavior of friction forces in the presliding regime, and especially of
FERRETTI, GIANNI +2 more
openaire +1 more source
On adaptive friction compensation
[1991] Proceedings of the 30th IEEE Conference on Decision and Control, 1992A 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.
FRIEDLAND B, PARK YJ
openaire +1 more source
Adaptive friction compensation with time-delay friction model
Proceedings of the 4th World Congress on Intelligent Control and Automation (Cat. No.02EX527), 2003This paper presents a new compensation technique for a time-delay friction model that captures the effect of frictional memory. The proposed control utilizes a proportional-derivative (PD) control structure and an adaptive estimate of the friction force.
K K Tan, S Huang, T H Lee
openaire +1 more source
Friction compensation without a friction model
2012 American Control Conference (ACC), 2012This paper presents the design of a position control system for plants that have nonlinear friction. The approach uses nested integral tracking loops: an inner velocity loop and an outer position loop. An additional component of the proposed approach is the nonstandard use of an observer, or reduced-order observer, in the inner loop to estimate the ...
openaire +3 more sources
Adaptive Friction Compensation with Dynamic Friction Model
IFAC Proceedings Volumes, 1996Abstract This paper illustrates the application of model-based adaptive friction compensation schemes on a DC motor servomechanism. A dynamic friction model and the control structure previously studied were used as a basis for this study. Two adaptive globally stable mechanisms are introduced to deal with structured normal forces and temperature ...
C. Canudas-de-Wit, P. Lischinsky
openaire +1 more source
GMS friction compensation in robot manipulator
IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society, 2013This paper deals with the friction compensation in a two degree of freedom (DOF) planar robot manipulator. The friction model is based on the newest and most realistic model which is described by (Generalized Maxwell Slip) GMS friction model. An online least square algorithm was used in order to estimate the friction force.
Said Grami, Yousef Gharbia
openaire +2 more sources