On combining adaptive estimation and robust control for friction compensation

Jyh-Chin Juang, Jeng Shi Chen

研究成果: Paper同行評審

5 引文 斯高帕斯(Scopus)

摘要

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.

原文English
頁面4396-4400
頁數5
出版狀態Published - 2004 九月 17
事件WCICA 2004 - Fifth World Congress on Intelligent Control and Automation, Conference Proceedings - Hangzhou, China
持續時間: 2004 六月 152004 六月 19

Other

OtherWCICA 2004 - Fifth World Congress on Intelligent Control and Automation, Conference Proceedings
國家/地區China
城市Hangzhou
期間04-06-1504-06-19

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 軟體
  • 電腦科學應用

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