On adaptive friction compensation without velocity measurement

Bernard Friedland, Sophia Mentzelopoulou

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

42 Scopus citations

Abstract

The problem considered in this paper is the estimation and compensation of friction that may be present in a control system in which the velocity cannot be directly measured. The compensator uses two observers: one to estimate the velocity and another which uses the velocity estimate of the first to estimate the friction coefficient. Local stability of the system is shown and favorable simulation results are presented.

Original languageEnglish (US)
Title of host publicationProceedings of the 1st IEEE Conference on Control Applications, CCA 1992
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1076-1081
Number of pages6
ISBN (Electronic)0780300475, 9780780300477
DOIs
StatePublished - Jan 1 1992
Event1st IEEE Conference on Control Applications, CCA 1992 - Dayton, United States
Duration: Sep 12 1992Sep 16 1992

Publication series

NameProceedings of the 1st IEEE Conference on Control Applications, CCA 1992

Conference

Conference1st IEEE Conference on Control Applications, CCA 1992
Country/TerritoryUnited States
CityDayton
Period9/12/929/16/92

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Optimization
  • Computer Science (miscellaneous)
  • Control and Systems Engineering
  • Aerospace Engineering
  • Industrial and Manufacturing Engineering

Keywords

  • Adaptive control
  • Friction compensation
  • Nonlinear observers

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