Low velocity friction compensation

Low velocity friction compensation

A model-free design methodology is reported for identification and stable adaptive control of a class of systems with state dependent parasitic effects such as friction. The methodology is constructive, incorporates modeling error bound information, and ensures stable and convergent performance. The...

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Bibliographic Details
Published in:IEEE control systems Vol. 18; no. 2; pp. 61 - 69
Main Authors: Hongliu Du, Nair, S.S.
Format: Magazine Article
Language:English
Published: IEEE 01-04-1998
Subjects:
Control design
Control nonlinearities
Convergence
Design methodology
Feedback
Friction
Hardware
Neural networks
Position control
Velocity control
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Description
Summary:A model-free design methodology is reported for identification and stable adaptive control of a class of systems with state dependent parasitic effects such as friction. The methodology is constructive, incorporates modeling error bound information, and ensures stable and convergent performance. The identifier and control designs are applicable to a class of low-dimensional dynamic systems with the cited parasitic effects. Validation of the designs is provided using two hardware example cases.
ISSN:1066-033X
1941-000X
DOI:10.1109/37.664656