On adaptive friction compensation

Document Type

Conference Proceeding

Publication Date

12-1-1991

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 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.

Identifier

0026363116 (Scopus)

ISBN

[0780304500]

Publication Title

Proceedings of the IEEE Conference on Decision and Control

ISSN

01912216

First Page

2899

Last Page

2902

Volume

3

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