Variable structure systems approach to friction estimation and compensation

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 4, Issue , 2000, Pages 3543-3548

  Ha, Q P ^a   Bonchis, A ^a   Rye, D C ^a   Durrant Whyte, H F ^a  

^a UNIVERSITY OF SYDNEY   (Australia)

Author keywords

[No Author keywords available]

Indexed keywords

FRICTION COMPENSATION; FRICTION ESTIMATION; SIGMOIDAL FUNCTIONS; SLIDING MODE CONTROLLER; VARIABLE STRUCTURE SYSTEMS;

COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); DYNAMICS; EQUATIONS OF MOTION; FRICTION; FUNCTIONS; MATHEMATICAL MODELS; MECHANISMS; OBSERVABILITY; PARAMETER ESTIMATION; ROBUSTNESS (CONTROL SYSTEMS); VELOCITY;

CONTROL SYSTEM SYNTHESIS;

EID: 0033722448     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (9)

1. B. Armstrong-Helouvry, P. Dupont, and C. Canudas de Wit, "A survey of models, analysis tools, and compensation methods for the control of machines with friction," Automatica, Vol. 30, No. 7, pp. 1083-1 138, 1994.
2. B. Friedland, and Y.J. Park, " On adaptive friction compensation," IEEE Trans. on Automatic Control, Vol. 37,No. 10 , pp1609-1612, 1992
3. C. Canudas de Wit, H. Olsson, K.J. Astrom, and P. Lischinsky, "A new model for control of systems with friction," IEEE Trans. on Automatic Control, Vol. 40, NO. 3, pp. 4 19-425, 1995
4. V.I. Utkin, Sliding modes in control optimisation. Springer-Verlag, 1992, pp. 206-222.
5. H.K. Khalil, Nonlinear systems. MacMilan, 1992, pp. 437-476.
6. Q.P. Ha, D.C. Rye, and H.F. Durrant-Whyte, "Fuzzy moving sliding mode control with application to robotic manipulators," Automatica, Vol. 35, NO. 4, pp 607-616, 1999.
7. A. Bonchis, Q.P. Ha, P.I. Corke, and D.C. Rye, "Model-based friction compensation in hydraulic servo systems," Proceedings of the Australian Conference on Robotics and Automation ACRA '99, pp. 184-190, 1999.
8. A. Bonchis, P.I. Corke, and D.C. Rye, "A pressurebased, velocity-independent friction model for asymmetric hydraulic cylinders," Proceedings of the IEEE Int. Conference on Robotics and Automation ICRA '99, Vol. 3, pp. 1746-1751 , 1999.
9. Q.P. Ha, "Sliding performance enhancement with fuzzy tuning," IEE Electronics Letters, Vol. 33, NO. 16, pp. 1421-1423, 1997.