Discrete-time elasto-plastic friction estimation

IEEE Transactions on Control Systems Technology

Volumn 17, Issue 3, 2009, Pages 688-696

  Hayward, Vincent ^a   Armstrong, Brian S R ^b   Altpeter, Friedhelm ^c   Dupont, Pierre E ^d  

^a MCGILL UNIVERSITY   (Canada)

^b University of Wisconsin Milwaukee   (United States)

^c Agathon AG   (Switzerland)

^d BOSTON UNIVERSITY   (United States)

Author keywords

Discrete time control; Friction compensation; Friction estimation; Friction modeling; Mechanical systems; Presliding

Indexed keywords

DISCRETE-TIME CONTROL; FRICTION COMPENSATION; FRICTION ESTIMATION; FRICTION MODELING; MECHANICAL SYSTEMS; PRESLIDING;

CONTINUOUS TIME SYSTEMS; ELASTOPLASTICITY; ESTIMATION; MECHANICS; MECHATRONICS; REAL TIME CONTROL; STICTION; TRIBOLOGY;

DISCRETE TIME CONTROL SYSTEMS;

EID: 67349250404     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2008.2001710     Document Type: Article

References (20)

1. P. Dahl, "Solid friction damping of mechanical vibrations," AIAA J. vol. 14, no. 2, pp. 1675-82, 1976.
2. B. Armstrong-Hélouvry, Control of Machines With Friction. Boston, MA: Kluwer, 1991.
3. B. Armstrong-Hélouvry, P. Dupont, and C. C. De Wit, "A survey of models, analysis tools and compensation methods for the control of machines with friction," Automatica, vol. 30, no. 7, pp. 1083-1138, 1994.
4. D. Haessig and B. Friedland, "On the modeling and simulation of friction," J. Dyn. Syst., Meas. Control, vol. 113, no. 3, pp. 354-362, 1991.
5. C. C. d. Wit, H. Olsson, and K. Aström, "A new model for control of systems with friction," IEEE Trans. Autom. Control, vol. 40, pp. 419-425, 1995.
6. V. Hayward and B. Armstrong, "A new computational model of friction applied to haptic rendering," in In Experimental Robotics VI, P. Corke and J. Trevelyan, Eds. Berlin Heidelberg, Germany: Springer-Verlag, 2000, vol. 250, Lecture Notes in Control and Information Sciences, pp. 403-412.
7. R. Kikuuwe, N. Takesue, A. Sano, H. Mochiyama, and H. Fujimoto, "Admittance and impedance representations of friction based on implicit Euler integration," IEEE Trans. Robot., vol. 22, no. 6, pp. 1176-1188, Dec. 2006.
8. D. Karnopp, "Computer simulation of stick-slip friction in mechanical dynamic systems," ASME J. Dyn. Syst., Meas. Control, vol. 107, no. 1, pp. 100-103, 1985.
9. S. E. Salcudean and T. D. Vlaar, "On the emulation of stiff walls and static friction with a magnetically levitated input/output device," in Proc. Amer. Soc. Mechan. Eng., Dyn. Syst. Control Div. (Publication) DSC, 1994, vol. 55, pp. 303-309.
10. J. Chen, C. DiMattia, R. M. I. Taylor, M. Falvo, P. Thiansathaporn, and R. Superfine, "Sticking to the point: A friction and adhesion model for simulated surfaces," in Proc. Amer. Soc. Mechan. Eng., Dyn. Syst. Control Div. (Publication) DSC, 1997, vol. 61, pp. 167-171.
11. N. Barabanov and R. Ortega, "Necessary and sufficient conditions for passivity of the LuGre friction model," IEEE Trans. Autom. Control vol. 45, no. 4, pp. 830-32, Apr. 2000.
12. C. C. d. Wit and P. Lischinsky, "Adaptive friction compensation with partially known dynamic friction model," Int. J. Adapt. Control Signal Process., vol. 11, pp. 65-80, 1997.
13. J. Amin, B. Friedland, and A. Harnoy, "Implementation of a friction estimation and compensation technique," IEEE Control Syst. Mag., vol. 17, no. 4, pp. 71-76, Jul. 1997.
14. L. Freidovich, A. Robertsson, A. Shiriaev, and R. Johansson, "Friction compensation based on LuGre model," in Proc. 45th IEEE Conf. Dec. Control, 2006, pp. 3837-3842.
15. P. Dupont, V. Hayward, B. Armstrong, and F. Altpeter, "Single state elasto-plastic friction models," IEEE Trans. Autom. Control, vol. 47, no. 5, pp. 47-47, May 2002.
16. F. Altpeter, "Friction modeling, identification and compensation," Ph.D. dissertation, Dépt. Génie Mécanique, Ecole Polytechnique Federale de Lausanne, Lausanne, France, 1994.
17. A. Visitin, Differential Models of Hysteresis. Berlin Heidelberg, Germany: Springer-Verlag, 1994.
18. K. Aström and C. C. deWit, "Revising the LuGre model - Basic properties, stick-slip motion and rate dependence," Control Syst. Mag., accepted for publication.
19. F. Janabi-Sharifi, V. Hayward, and C.-S. J. Chen, "Discrete-time adaptive windowing for velocity estimation," IEEE Trans. Control Syst. Technol., vol. 8, no. 6, pp. 1003-1009, Nov. 2000.
20. M. Mahvash and A. Okamura, "Friction compensation for enhancing transparency of a teleoperator with compliant transmission," IEEE Trans. Robot., vol. 23, no. 6, pp. 1240-1246, Dec. 2008.