Neural network based friction compensation in motion control

Electronics Letters

Volumn 40, Issue 12, 2004, Pages 752-753

  Ciliz, M K ^a   Tomizuka, M ^b  

^a BOGAZICI UNIVERSITY   (Turkey)

^b UNIVERSITY OF CALIFORNIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTATIONAL METHODS; CONTROL SYSTEMS; FEEDFORWARD NEURAL NETWORKS; FRICTION; MATHEMATICAL MODELS; MULTILAYER NEURAL NETWORKS; TORQUE;

COULOMB FRICTION; FRICTION COMPENSATION; PD CONTROL;

MOTION CONTROL;

EID: 3042599162     PISSN: 00135194     EISSN: None     Source Type: Journal    
DOI: 10.1049/el:20040500     Document Type: Article

References (3)

1. Tomizuka, M.: 'On the compensation of friction forces in precision motion control'. Proc. Asia-Pasific Workshop on Advances in Motion Control, Singapore, 1993, pp. 69-74
2. Armstrong-Hélouvry, B., Dupont, P., and Canudas-deWit, C.: 'A survey of models, analyis tools and compensation techniques for the control of machines with friction', Automatica, 1994, 30, (7), pp. 1083-1138
3. Shields, J., and Horowitz, R.: 'Robot actuator torque-velocity identification and compensation', 1994 (Mechanical Engineering Department, University of California, Berkeley, Technical Report)