On adaptive friction compensation

Bernard Friedland, Young Jin Park

Research output: Chapter in Book/Report/Conference proceedingConference contribution

28 Scopus citations

Abstract

A method of compensating for friction in control systems is presented. The method entails the use of an observer to estimate the friction which is modeled as a constant times the sign of velocity. The purpose of the observer is to estimate this constant. The observer model is selected to ensure that the error in estimation of the friction constant converges asymptotically to zero. Simulation results verify the theory and show that the method can significantly improve the performance of a control system in which it is used. Although based on the assumption of a constant friction magnitude, the observer displays the ability to track friction whose magnitude depends on velocity.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherPubl by IEEE
Pages2899-2902
Number of pages4
ISBN (Print)0780304500
StatePublished - Dec 1 1991
EventProceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3) - Brighton, Engl
Duration: Dec 11 1991Dec 13 1991

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume3
ISSN (Print)0191-2216

Other

OtherProceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3)
CityBrighton, Engl
Period12/11/9112/13/91

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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