Abstract
The presence of frictions on servo and motion control systems may result in positioning error, tracking lag, and limit cycles. In the paper, an adaptive friction estimation scheme is combined with a robust control scheme to account for Coulomb, viscous, and Stribeck-type frictions. With respect to Coulomb frictions, it is shown that the estimation error and tracking error can be made asymptotically convergent. For Stribeck-type frictions, the estimation error remains bounded and the tracking error can be made convergent. It is also shown that the design of friction estimator and robust control gain can be conducted sequentially. Performance issues of the robust adaptive friction controller are illustrated in a simulation example made for a two-degree of freedom planar robot manipulator.
| Original language | English |
|---|---|
| Pages | 4396-4400 |
| Number of pages | 5 |
| Publication status | Published - 2004 Sep 17 |
| Event | WCICA 2004 - Fifth World Congress on Intelligent Control and Automation, Conference Proceedings - Hangzhou, China Duration: 2004 Jun 15 → 2004 Jun 19 |
Other
| Other | WCICA 2004 - Fifth World Congress on Intelligent Control and Automation, Conference Proceedings |
|---|---|
| Country | China |
| City | Hangzhou |
| Period | 04-06-15 → 04-06-19 |
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All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Software
- Computer Science Applications
Cite this
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On combining adaptive estimation and robust control for friction compensation. / Juang, Jyh-Chin; Chen, Jeng Shi.
2004. 4396-4400 Paper presented at WCICA 2004 - Fifth World Congress on Intelligent Control and Automation, Conference Proceedings, Hangzhou, China.Research output: Contribution to conference › Paper
TY - CONF
T1 - On combining adaptive estimation and robust control for friction compensation
AU - Juang, Jyh-Chin
AU - Chen, Jeng Shi
PY - 2004/9/17
Y1 - 2004/9/17
N2 - The presence of frictions on servo and motion control systems may result in positioning error, tracking lag, and limit cycles. In the paper, an adaptive friction estimation scheme is combined with a robust control scheme to account for Coulomb, viscous, and Stribeck-type frictions. With respect to Coulomb frictions, it is shown that the estimation error and tracking error can be made asymptotically convergent. For Stribeck-type frictions, the estimation error remains bounded and the tracking error can be made convergent. It is also shown that the design of friction estimator and robust control gain can be conducted sequentially. Performance issues of the robust adaptive friction controller are illustrated in a simulation example made for a two-degree of freedom planar robot manipulator.
AB - The presence of frictions on servo and motion control systems may result in positioning error, tracking lag, and limit cycles. In the paper, an adaptive friction estimation scheme is combined with a robust control scheme to account for Coulomb, viscous, and Stribeck-type frictions. With respect to Coulomb frictions, it is shown that the estimation error and tracking error can be made asymptotically convergent. For Stribeck-type frictions, the estimation error remains bounded and the tracking error can be made convergent. It is also shown that the design of friction estimator and robust control gain can be conducted sequentially. Performance issues of the robust adaptive friction controller are illustrated in a simulation example made for a two-degree of freedom planar robot manipulator.
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UR - http://www.scopus.com/inward/citedby.url?scp=4444347891&partnerID=8YFLogxK
M3 - Paper
AN - SCOPUS:4444347891
SP - 4396
EP - 4400
ER -