Results 171 to 180 of about 504 (216)
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ON FRICTION COMPENSATION WITHOUT FRICTION MODEL
IFAC Proceedings Volumes, 2002Abstract This paper presents a new methodology for friction compensation that is not based on any friction model. This is done by using finite-terms Fourier series to approximate the friction term. Updating laws for the coefficients of the series are easily derived from a Lyapunov approach to guarantee asymptotic convergence of the tracking error ...
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LuGre-Model-Based Friction Compensation
IEEE Transactions on Control Systems Technology, 2010A tracking problem for a mechanical system is considered. We start with a feedback controller that is designed without attention to disturbances, which are assumed to be adequately described by a dynamic LuGre friction model. We are interested in deriving a superimposed observer-based compensator to annihilate or reduce the influence of such a ...
Leonid B. Freidovich +3 more
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Research on the compensation method for CPVSESS with friction
2016 IEEE International Conference on Information and Automation (ICIA), 2016As a main nonlinearity factor, the friction in the concentrating photovoltaic solar energy servo system causes a bad performances of the servo control system. In this paper, the model of the friction, which influence on the system, firstly is given. Secondly, a backstepping adaptive neural network compensation method, which integrates the backstepping ...
Qiusheng He +3 more
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Friction Identification and Compensation in Robotic Manipulators
IEEE Transactions on Instrumentation and Measurement, 2007In this paper, friction identification and friction compensation in the joints of a robotic manipulator are studied. The friction force is modeled using a single-state dynamic model that is utilized in the friction compensation algorithm. A new method for identifying the parameters of the aforementioned model in a robotic manipulator is presented.
Mehrdad R. Kermani +2 more
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Observer-based compensation of discontinuous friction
2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601), 2004This paper presents an observer-based friction compensation design for a class of frictional systems guaranteeing global exponential stability of the closed-loop system in the absence of velocity measurements. The friction compensation scheme allows a fairly general discontinuous friction model that is able to describe stiction and the Stribeck effect,
Putra, D., Moreau, L., Nijmeijer, H.
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Time Periodical Adaptive Friction Compensation
2004 IEEE International Conference on Robotics and Biomimetics, 2005In this paper, the adaptive compensation of Coulomb friction is considered where the Coulomb friction coefficient is unknown but can be time-varying with a known period. Detailed stability analysis is given with some demonstrative simulation results. The major contributions of this paper is a periodic adaptive control law for friction compensation in ...
Hyo-Sung Ahn, Yangquan Chen
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Friction modeling and compensation for an industrial robot
Journal of Robotic Systems, 1993AbstractThis article describes the detailed friction modeling of the General Electric GP132 industrial robot. Friction is an area whose importance is often discounted in the development of control systems because it is thought to be insignificant or unmodelable.
Stephen M. Phillips, Kevin R. Ballou
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An exponentially stable adaptive friction compensator
IEEE Transactions on Automatic Control, 2000Using other authors' results and the Lyapunov method, this note presents a novel adaptive compensation scheme for Columb friction in a servo control system and builds an observer for the unknown Columb friction coefficient estimation. The authors propose a linear control law to compensate for the friction force and obtain the tracking objective.
Teh-Lu Liao, Tsun-I Chien
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On velocity control using friction compensation
Proceedings of the 41st IEEE Conference on Decision and Control, 2002., 2003Velocity control of a direct-drive motor with high friction is considered. The friction at the motor shaft is assumed to be captured by a bristle deflection model. Two velocity observer-based controllers are introduced. Experiments show the superiority of the proposed schemes with respect to a velocity controller based on compensation of classical ...
Javier Moreno-Valenzuela +2 more
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Friction compensation for a sandwich dynamic system
Automatica, 2003zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Avinash Taware +3 more
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