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Adaptive friction compensation with a time-delay friction model
- Source :
- Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering. 218:173-183
- Publication Year :
- 2004
- Publisher :
- SAGE Publications, 2004.
-
Abstract
- This paper presents a new compensation technique for a time-delay friction model that captures the effect of frictional memory. The proposed control utilizes a proportional-derivative (PD) control structure and an adaptive estimate of the friction force. Specifically, a radial basis function (RBF) is used to compensate the effects of the non-linearly occurring parameters in the friction model. Simulation results verify the theory and show that the method can significantly improve the tracking performance of a control system in which it is used.
Details
- ISSN :
- 20413041 and 09596518
- Volume :
- 218
- Database :
- OpenAIRE
- Journal :
- Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
- Accession number :
- edsair.doi...........509ed87060369cdbf69aa6bf35859e7f