Adaptive friction compensation with a time-delay friction model

被引：3

作者：

Tan, KK ^{[1
]}

Huang, S ^{[1
]}

Lee, TH ^{[1
]}

机构：

[1] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 119260, Singapore

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING | 2004年 / 218卷 / I3期

关键词：

adaptive control; friction compensation; time-delay systems;

D O I：

10.1243/095965104773913858

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a new compensation technique for a time-delay friction model that captures the effect of frictional memory. The proposed control utilizes a proportional-derivative (PD) control structure and an adaptive estimate of the friction force. Specifically, a radial basis function (RBF) is used to compensate the effects of the non-linearly occurring parameters in the friction model. Simulation results verify the theory and show that the method can significantly improve the tracking performance of a control system in which it is used.

引用

页码：173 / 183

页数：11

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