On combining adaptive estimation and robust control for friction compensation

Jyh-Chin Juang, Jeng Shi Chen

Research output: Contribution to conferencePaperpeer-review

5 Citations (Scopus)

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 languageEnglish
Pages4396-4400
Number of pages5
Publication statusPublished - 2004 Sep 17
EventWCICA 2004 - Fifth World Congress on Intelligent Control and Automation, Conference Proceedings - Hangzhou, China
Duration: 2004 Jun 152004 Jun 19

Other

OtherWCICA 2004 - Fifth World Congress on Intelligent Control and Automation, Conference Proceedings
Country/TerritoryChina
CityHangzhou
Period04-06-1504-06-19

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Science Applications

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