Brief Friction compensation for a sandwich dynamic system

Authors:
Avinash Taware;Gang Tao;Nilesh Pradhan;Carole Teolis
Affiliations:
Department of Electrical and Computer Engineering, University of Virginia, Charlottesville, VA 22903, USA;Department of Electrical and Computer Engineering, University of Virginia, Charlottesville, VA 22903, USA;Department of Electrical and Computer Engineering, University of Virginia, Charlottesville, VA 22903, USA;Techno-Sciences, Inc. 10001 Derekwood Lane, Lanham, MD 20706, USA
Venue:
Automatica (Journal of IFAC)
Year:
2003

Citing 3
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Brief Analysis of a two-relay system configuration with application to Coulomb friction identification

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Control of mechanical motion systems with non-collocation of actuation and friction: A Popov criterion approach for input-to-state stability and set-valued nonlinearities

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Original article: Modeling the dynamic sandwich system with hysteresis using NARMAX model

Mathematics and Computers in Simulation

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Abstract

Friction compensation for a benchmark system with load friction plus joint flexibility and damping is addressed. This is a problem of controlling a sandwich dynamic system with a non-smooth nonlinearity. Several non-adaptive and adaptive compensation designs are analyzed, based on a state feedback output tracking model reference adaptive control scheme. Sufficient output matching conditions are derived for friction compensation. Approximate linear parametrizations of nonlinear friction are developed for adaptive friction compensator designs. Simulation results verify the desired system performance.