On Adaptive Friction Compensation

Document Type

Article

Publication Date

1-1-1992

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 the 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. © 1992 IEEE

Identifier

0026941936 (Scopus)

Publication Title

IEEE Transactions on Automatic Control

External Full Text Location

https://doi.org/10.1109/9.256395

e-ISSN

15582523

ISSN

00189286

First Page

1609

Last Page

1612

Issue

10

Volume

37

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