TY - JOUR
T1 - Improving the tracking performance of mechanical systems by adaptive extended friction compensation
AU - Jager, de, A.G.
PY - 1993
Y1 - 1993
N2 - The paper discusses a tracking control system and shows with simulation and experimental results that extended friction models can be successfully incorporated in a computed-torque-like adaptive control scheme. The friction model used includes Coulomb, viscous, and periodic friction with sense of direction dependent parameters. To get small tracking errors, adaptation of the friction model parameters is necessary. The tracking performance is an order of magnitude better than with PD control. The robustness of the scheme for parameter inaccuracies is sufficient, owing to the adaptation, but the controller gains are limited due to stability problems caused by unmodeled dynamics.
AB - The paper discusses a tracking control system and shows with simulation and experimental results that extended friction models can be successfully incorporated in a computed-torque-like adaptive control scheme. The friction model used includes Coulomb, viscous, and periodic friction with sense of direction dependent parameters. To get small tracking errors, adaptation of the friction model parameters is necessary. The tracking performance is an order of magnitude better than with PD control. The robustness of the scheme for parameter inaccuracies is sufficient, owing to the adaptation, but the controller gains are limited due to stability problems caused by unmodeled dynamics.
U2 - 10.1016/0967-0661(93)90011-F
DO - 10.1016/0967-0661(93)90011-F
M3 - Article
SN - 0967-0661
VL - 1
SP - 1009
EP - 1018
JO - Control Engineering Practice
JF - Control Engineering Practice
IS - 6
ER -