Friction compensation for drives with and without transmission compliance

Jain, Sandeep; Khorrami, Farshad; Ahmad, Nizar J.; Sankaranarayanan, S

doi:10.1109/acc.1997.611993

Cited by 15 publications

(6 citation statements)

References 9 publications

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“…The observer/controller scheme of (15), (17), and (18) The position tracking error for each link is shown in Fig. 1 and Fig.…”

Section: Methodsmentioning

confidence: 99%

“…In [23], Sivakumar et al developed a robust, adaptive, variable structure controller to minimize the effects of friction described by the dynamic friction model of [7] in positioning applications. Jain et al [17] proposed a robust adaptive controller to compensate for dynamic friction effects separated from the control input through drive compliance. The controller of [17] does not require any knowledge of the parameters associated with model [7] except for an upperbound on the static friction level to achieve setpoint regulation.…”

Section: Introductionmentioning

confidence: 99%

“…Jain et al [17] proposed a robust adaptive controller to compensate for dynamic friction effects separated from the control input through drive compliance. The controller of [17] does not require any knowledge of the parameters associated with model [7] except for an upperbound on the static friction level to achieve setpoint regulation. In [26], Yazdizadeh et al illustrated a Lyapunov-based design strategy for constructing a nonlinear estimator to compensate for the Coulomb friction coefficient to ensure asymptotic stability without placing any assumptions on the velocity.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Tracking Control in the Presence of Nonlinear Dynamic Frictional Effects: Robot Extension

Feemster¹,

Dawson²,

Behal³

et al. 1999

Asian Journal of Control

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In this paper, we extend the observer/control strategies previously published in [25] to an n-link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the LuGre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

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“…The observer/controller scheme of (15), (17), and (18) The position tracking error for each link is shown in Fig. 1 and Fig.…”

Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Tracking Control in the Presence of Nonlinear Dynamic Frictional Effects: Robot Extension

Feemster¹,

Dawson²,

Behal³

et al. 1999

Asian Journal of Control

View full text Add to dashboard Cite

show abstract

“…For example, the result in [31] was extended in [32] to include the LuGre friction model [7], resulting in an asymptotic tracking result for square integrable disturbances. Robust adaptive controllers were also proposed in [17] and [29] to account for the LuGre model. Canudas et al investigated the development of observer-based approaches for the LuGre model in [7].…”

Section: Introductionmentioning

confidence: 99%

Lyapunov-Based Tracking Control in the Presence of Uncertain Nonlinear Parameterizable Friction

Makkar

Sawyer

et al. 2007

IEEE Trans. Automat. Contr.

235

120

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Abstract-Modeling and compensation for friction effects has been a topic of considerable mainstream interest in motion control research. This interest is spawned from the fact that modeling nonlinear friction effects is a theoretically challenging problem, and compensating for the effects of friction in a controller has practical ramifications. If the friction effects in the system can be accurately modeled, there is an improved potential to design controllers that can cancel the effects; whereas, excessive steady-state tracking errors, oscillations, and limit cycles can result from controllers that do not accurately compensate for friction. A tracking controller is developed in this paper for a general Euler-Lagrange system that contains a new continuously differentiable friction model with uncertain nonlinear parameterizable terms. To achieve the semi-global asymptotic tracking result, a recently developed integral feedback compensation strategy is used to identify the friction effects online, assuming exact model knowledge of the remaining dynamics. A Lyapunov-based stability analysis is provided to conclude the tracking and friction identification results. Experimental results illustrate the tracking and friction identification performance of the developed controller.

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“…For example, the result in [25] was extended in [26] to include the LuGre friction model [7], resulting in an asymptotic tracking result for square integrable disturbances. Robust adaptive controllers were also proposed in [17] and [23] to account for the LuGre model. Canudas et al investigated the development of observer-based approaches for the LuGre model in [7].…”

Section: Introductionmentioning

confidence: 99%

Lyapunov-based tracking control in the presence of uncertain nonlinear parameterizable friction

Makkar

Dixon

Sawyer

et al.

Proceedings of the 2005, American Control Conference, 2005.

View full text Add to dashboard Cite

Modeling and compensation for friction effects has been a topic of considerable mainstream interest in motion control research. This interest is spawned from the fact that modeling nonlinear friction effects is a theoretically challenging problem, and compensating for the effects of friction in a controller has practical ramifications. If the friction effects in the system can be accurately modeled, there is an improved potential to design controllers that can cancel the effects; whereas, excessive steady-state tracking errors, oscillations, and limit cycles can result from controllers that do not accurately compensate for friction. A tracking controller is developed in this paper for a general Euler-Lagrange system that contains a new continuously differentiable friction model with uncertain nonlinear parameterizable terms. To achieve the semi-global asymptotic tracking result, a recently developed integral feedback compensation strategy is used to identify the friction effects on-line, assuming exact model knowledge of the remaining dynamics. A Lyapunovbased stability analysis is provided to conclude the tracking and friction identification results. On-going efforts are being directed at the development of an experimental testbed to illustrate the tracking and friction identification performance of the developed controller.

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Friction compensation for drives with and without transmission compliance

Cited by 15 publications

References 9 publications

Tracking Control in the Presence of Nonlinear Dynamic Frictional Effects: Robot Extension

Tracking Control in the Presence of Nonlinear Dynamic Frictional Effects: Robot Extension

Lyapunov-Based Tracking Control in the Presence of Uncertain Nonlinear Parameterizable Friction

Lyapunov-based tracking control in the presence of uncertain nonlinear parameterizable friction

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