Parametrization and adaptive compensation of friction forces

International Journal of Adaptive Control and Signal Processing

Volumn 11, Issue 1, 1997, Pages 21-31

  Bai, E R Wei ^a  

^a UNIVERSITY OF IOWA   (United States)

Author keywords

Adaptive controls; Compensation of friction forces

Indexed keywords

ERROR COMPENSATION; ERRORS; FRICTION; MATHEMATICAL MODELS; PERFORMANCE; SERVOMECHANISMS;

ADAPTIVE FRICTION COMPENSATION; FRICTION FORCE; FRICTION MODEL; PARAMETRIZATION;

ADAPTIVE CONTROL SYSTEMS;

EID: 0031076250     PISSN: 08906327     EISSN: None     Source Type: Journal    
DOI: 10.1002/(SICI)1099-1115(199702)11:1<21::AID-ACS392>3.0.CO;2-S     Document Type: Article

References (15)

1. Armstrong-Helouvry, B., Control of Machines with Friction, Kluwer, Boston, MA, 1991.
2. Armstrong-Helouvry, B., P. Dupont and C. Canudas de Wit, 'A survey of models, analysis tools and compensation methods for the control of machines with friction', Automatica, 30, 1083-1138, 1994.
3. Canudas de Wit, C., K. Åstrom and K. Braun, 'Adaptive friction compensation in DC-motor drives', IEEE J. Robotics Automat., RA-3, 681-685 (1987).
4. Dupont, P., 'The effect of friction on the forward dynamics problems', Int. J. Robotics Res., 12 164-179 (1993).
5. Ortega, R. and M. Spong, 'Adaptive motion of rigid robots: a tutorial', Automatica, 25, 877-888 (198).
6. Tustin, A., 'The effects of backlash and of speed-dependent friction on the stability of closed-cycle control systems', IEE J., 94, pt. 2A, 143-141 (1947).
7. Walrath, C., 'Adaptive bearing friction compensation based on recent knowledge of dynamic friction', Automatica, 20, 717-727 (1984).
8. Yang, S. and M. Tomizuka, 'Adaptive pulse width control for precise positioning under the influence of stiction and coulomb friction', ASME J. Dyn. Syst., Meas., Control, 110, 331SCR227 (1988).
9. Canudas de Wit, C., P. Noel, A. Aubin and B. Brogliato, 'Adaptive friction compensation in robot manipulators: low velocities', Int. J. Robotics Res., 10, 189-199 (1991).
10. Canudas de Wit, C. and V. Seront, 'Robust adaptive friction compensation', Proc. Int. Conf. on Robotics and Automation, Cincinnati, OH, 1990, pp. 1383-1388.
11. Tao, G., P. V. Kokotovic and G. Ianculescu, 'Adaptive friction compensation applied to positioning of a space-station solar array', Proc. 1st IEEE Regional Conf. on Aerospace Control Systems, Westlake Village, CA, May 1993, IEEE, New York, 1993, pp. 80-84.
12. Sastry, S. and M Bodson, Adaptive Control, Prentice-Hall, Englewood Cliffs, NJ, 1989.
13. Dupont, P., 'Avoiding stick-slip through PD control', IEEE Trans. Automatic Control, AC-39, 1094-1097 (1994).
14. Friedland, B., S. Mentzelopoulou and Y. Park, 'Friction estimation in multimass systems', Proc. ACC, 1993, pp. 1927-1931.
15. Yang, S. and M. Tomizuka, 'Low velocity friction compensation for machine tool feed driver', Proc. ACC, Chicago, Illinois, 1993, pp. 1932-1936.