On combining adaptive estimation and robust control for friction compensation

Jyh-Chin Juang, Jeng Shi Chen

研究成果: Paper

5 引文 (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China
城市Hangzhou
期間04-06-1504-06-19

指紋

Robust control
Friction
Error analysis
Motion control
Compensation and Redress
Manipulators
Robots
Control systems
Controllers

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Science Applications

引用此文

Juang, J-C., & Chen, J. S. (2004). On combining adaptive estimation and robust control for friction compensation. 4396-4400. 論文發表於 WCICA 2004 - Fifth World Congress on Intelligent Control and Automation, Conference Proceedings, Hangzhou, China.
Juang, Jyh-Chin ; Chen, Jeng Shi. / On combining adaptive estimation and robust control for friction compensation. 論文發表於 WCICA 2004 - Fifth World Congress on Intelligent Control and Automation, Conference Proceedings, Hangzhou, China.5 p.
@conference{0588fbbbe28846959aac78136ba30887,
title = "On combining adaptive estimation and robust control for friction compensation",
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.",
author = "Jyh-Chin Juang and Chen, {Jeng Shi}",
year = "2004",
month = "9",
day = "17",
language = "English",
pages = "4396--4400",
note = "WCICA 2004 - Fifth World Congress on Intelligent Control and Automation, Conference Proceedings ; Conference date: 15-06-2004 Through 19-06-2004",

}

Juang, J-C & Chen, JS 2004, 'On combining adaptive estimation and robust control for friction compensation', 論文發表於 WCICA 2004 - Fifth World Congress on Intelligent Control and Automation, Conference Proceedings, Hangzhou, China, 04-06-15 - 04-06-19 頁 4396-4400.

On combining adaptive estimation and robust control for friction compensation. / Juang, Jyh-Chin; Chen, Jeng Shi.

2004. 4396-4400 論文發表於 WCICA 2004 - Fifth World Congress on Intelligent Control and Automation, Conference Proceedings, Hangzhou, China.

研究成果: 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.

UR - http://www.scopus.com/inward/record.url?scp=4444347891&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=4444347891&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:4444347891

SP - 4396

EP - 4400

ER -

Juang J-C, Chen JS. On combining adaptive estimation and robust control for friction compensation. 2004. 論文發表於 WCICA 2004 - Fifth World Congress on Intelligent Control and Automation, Conference Proceedings, Hangzhou, China.