Friction compensation using adaptive non-linear control with persistent excitation

Misovec, Kathleen

doi:10.1080/002071799221091

Cited by 36 publications

(12 citation statements)

References 17 publications

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“…This method of friction cancellation has already been proven in other applications, e.g. by Ray et al [15,17].…”

Section: B Observer Designmentioning

confidence: 91%

“…Due to uncontrollable variations in humidity, temperature, wear or lubricant condition these parameters have to be identified online to ensure a constant performance. For the relatively simple Dahl and LuGre model this has already been achieved [4,15,17]. However, estimating simultaneous all model parameters is a challenging task, due to the fact that almost all "physically motivated" dynamic friction models contain parameters that appear nonlinear in the model equations.…”

Section: Introductionmentioning

confidence: 99%

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Position control on nanometer scale based on an adaptive friction compensation scheme

Amthor

Zschäck

Ament

2008

2008 34th Annual Conference of IEEE Industrial Electronics

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Abstract-This work concerns a non-model-based friction compensation scheme for dynamic position control on nanometer scale. The main goal of this work is to build up and implement a simple dynamic friction observer which allows an estimation of the friction force in combination with the system inertia against displacement. Experiments in the pre-sliding and sliding friction regimes are conducted on an experimental setup.After a short review of friction compensation, the experimental setup is explained in detail. Next, the observer is modeled mathematically and the used control scheme is presented. Finally, the friction observer is utilized as a non-model-based friction estimator combined with a classical feedback controller to compensate the nonlinear friction force and reduce tracking errors significantly. It is shown that the proposed controlling approach is able to realize a fast and ultra precise positioning over long distances.

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“…This method of friction cancellation has already been proven in other applications, e.g. by Ray et al [15,17].…”

Section: B Observer Designmentioning

confidence: 91%

Section: Introductionmentioning

confidence: 99%

Position control on nanometer scale based on an adaptive friction compensation scheme

Amthor

Zschäck

Ament

2008

2008 34th Annual Conference of IEEE Industrial Electronics

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“…It is similar in structure to the adaptive controller proposed in [6] for the LuGre friction model, which makes use of the convex/concave property of friction parameters [7]. However, to deal with nonlinearly occurring parameters, [6] employs a special tuning signal that complicates stability proof and computation of adaptive control laws.…”

Section: Introductionmentioning

confidence: 96%

“…Similar to [6], the persistently exciting condition of the desired trajectory is used to maintain robustness to dynamic perturbations, which are considered as system disturbances. As all parameters in the friction model now appear linearly, the special tuning signal is no longer required, and the determination of adaptive control laws is simplified.…”

Section: Introductionmentioning

confidence: 99%

Adaptive friction compensation using the GMS model with polynomial stribeck function

Nilkhamhang

Sano

2006

2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006

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An adaptive friction compensator is proposed using the generalized Maxwell-slip (GMS) friction model, with a new, linearly-parameterized Stribeck function. It employs a polynomial equation that is linear-in-the-parameter to describe the nonlinear Stribeck effect in the GMS model, and simplifies the design of an adaptive friction compensator. The proposed compensator has a switching structure to accomodate for the hybrid nature of the GMS model, and the parameter projection method is used to guarantee a boundedness on parameter estimates and stability of the switching adaptive controller. The validity and effectiveness of the proposed, linearlyparameterized friction compensator is verified by simulations for the velocity control of an inertia system under the influence of dynamic friction.

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“…[3]. Nonlinearly parametrized systems also appear when using a visual servoing system to control the motion of a robot [4], [5], [6], [7], [8], [9] and in friction compensation problems [10], [11], [12], [13]. Nonlinear parametrizations appear even in very simple RLC circuits and have a large extent of utility.…”

Section: Introductionmentioning

confidence: 99%

A new adaptive control algorithm for systems with multilinear parametrization

Netto

Annaswamy

Mammar

et al. 2006

2006 American Control Conference

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Adaptive control of nonlinearly parametrized (NLP) systems is an unknown field, where few results have been proposed up to now. In this paper, we propose a new adaptive control algorithm for systems with multilinear parametrization, that belong to the class of nonlinear parametrizations. The proposed controller is a non certainty equivalence one where only the original parameters, without then the need of overparametrization, are adapted. An important feature of the proposed approach is that its convergence properties are not based on projections inside the hypercube to where the parameters are known to lie. Simulations show the efficacy of the approach highlighting this fact, that is, that convergence holds even for the case where the adapted parameters do not belong to the hypercube where the true parameters are known to be.

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Friction compensation using adaptive non-linear control with persistent excitation

Cited by 36 publications

References 17 publications

Position control on nanometer scale based on an adaptive friction compensation scheme

Position control on nanometer scale based on an adaptive friction compensation scheme

Adaptive friction compensation using the GMS model with polynomial stribeck function

A new adaptive control algorithm for systems with multilinear parametrization

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