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A novel observer design for friction estimation
International Journal of Control, 2023In this paper, we propose a novel adaptive friction estimator for simple mechanical systems with Coulombfriction. We assume that the friction constant is unknown and we propose an adaptive observer for itsestimation. We show that under certain conditions the observer structure is asymptotically stable.
Caner Odabaş, Ömer Morgül
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Friction compensation with estimated velocity
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), 2003The problem of friction compensation at very low velocity is investigated experimentally. Two published friction compensation strategies, based on two well-known friction models, are evaluated experimentally on a direct drive robot arm. One is an adaptive nonlinear dynamic friction compensation method using the LuGre friction model, and the other is a ...
Y. Zhang +2 more
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Robust Estimation of Road Frictional Coefficient
IEEE Transactions on Control Systems Technology, 2011Vehicle active safety systems stabilize the vehicle by controlling tire forces. They work well only when the commanded tire forces are within the friction limit. Therefore, knowledge of the tire/road friction is important to improve the performance of vehicle active safety systems.
Changsun Ahn, Huei Peng, H. Eric Tseng
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Accurate estimation of friction
Proceedings of 1994 American Control Conference - ACC '94, 2005The effect of friction in low velocity, precise, position controlled mechanisms can be dominant and is difficult to model. This study examines the use of neural networks to model friction in mechanical systems that use DC motors for actuation. Neural network designs alleviate the need to select a friction model and determine its parameters. In addition,
T.G. Colhour, S.S. Nair
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On estimation of dynamic friction
Proceedings of 32nd IEEE Conference on Decision and Control, 2002Evidence is mounting that friction is a dynamic phenomenon. Three techniques for estimating dynamic friction are presented. The first uses an observer based on a static model; the second uses an observer that tracks the friction force; the third is based on estimation of the friction coefficient of a correct dynamic model.
B. Friedland, S. Mentzelopoulou
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Joint friction estimation for walking bipeds
Robotica, 2014SUMMARYThis paper proposed a new approach for the joint friction estimation of non-slipping walking biped robots. The proposed approach is based on the combination of a measurement-based strategy and a model-based method. The former is used to estimate the joint friction online when the foot is in contact with the ground, while the latter adopts a ...
Iyad Hashlamon, Kemalettin Erbatur
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Difference-based estimation of support friction
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008Human perception is based on differences. After all, nobody will ask you to hold an object and measure its weight to three significant figures and expect you to succeed. But comparing the weight of the object to another object (say, an apple) would be an easy task and an everyday occurrence.
Sean Walker, J. Kenneth Salisbury
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Residual Error Estimators for Coulomb Friction
SIAM Journal on Numerical Analysis, 2009This paper is concerned with residual error estimators for finite element approximations of Coulomb frictional contact problems. A recent uniqueness result by Renard in [SIAM J. Math. Anal., 38 (2006), pp. 452-467] for the continuous problem allows us to perform an a posteriori error analysis.
Hild, Patrick, Lleras, Vanessa
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Discussion on: “Adaptive Estimation of the Engine Friction Torque”
European Journal of Control, 2007zbMATH Open Web Interface contents unavailable due to conflicting licenses.
SENATORE, ADOLFO, PIANESE, Cesare
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