Friction compensation for drives with and without transmission compliance

S. Jain; F. Khorrami; N. Ahmad; S. Sankaranarayanan

doi:10.1109/acc.1997.611993

Friction compensation for drives with and without transmission compliance

S. Jain, F. Khorrami, N. Ahmad, S. Sankaranarayanan

Electrical and Computer Engineering

Research output: Contribution to journal › Conference article › peer-review

Abstract

In this paper, nonlinear robust adaptive controller is proposed for friction compensation. The design has been performed for a six parameter dynamic model of friction. The advocated control design does not utilize any knowledge of these six parameters and requires just an upper bound on the static friction level, which can be obtained experimentally. The controller is robust to dynamic uncertainties and can compensate the effect of friction which is separated from the control input through drive compliance. Simulation and experimental results are also presented.

Original language	English (US)
Pages (from-to)	2925-2929
Number of pages	5
Journal	Proceedings of the American Control Conference
Volume	5
DOIs	https://doi.org/10.1109/acc.1997.611993
State	Published - 1997
Event	Proceedings of the 1997 American Control Conference. Part 3 (of 6) - Albuquerque, NM, USA Duration: Jun 4 1997 → Jun 6 1997

ASJC Scopus subject areas

Electrical and Electronic Engineering

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10.1109/acc.1997.611993

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title = "Friction compensation for drives with and without transmission compliance",

abstract = "In this paper, nonlinear robust adaptive controller is proposed for friction compensation. The design has been performed for a six parameter dynamic model of friction. The advocated control design does not utilize any knowledge of these six parameters and requires just an upper bound on the static friction level, which can be obtained experimentally. The controller is robust to dynamic uncertainties and can compensate the effect of friction which is separated from the control input through drive compliance. Simulation and experimental results are also presented.",

author = "S. Jain and F. Khorrami and N. Ahmad and S. Sankaranarayanan",

year = "1997",

doi = "10.1109/acc.1997.611993",

language = "English (US)",

volume = "5",

pages = "2925--2929",

journal = "Proceedings of the American Control Conference",

issn = "0743-1619",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "Proceedings of the 1997 American Control Conference. Part 3 (of 6) ; Conference date: 04-06-1997 Through 06-06-1997",

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TY - JOUR

T1 - Friction compensation for drives with and without transmission compliance

AU - Jain, S.

AU - Khorrami, F.

AU - Ahmad, N.

AU - Sankaranarayanan, S.

PY - 1997

Y1 - 1997

N2 - In this paper, nonlinear robust adaptive controller is proposed for friction compensation. The design has been performed for a six parameter dynamic model of friction. The advocated control design does not utilize any knowledge of these six parameters and requires just an upper bound on the static friction level, which can be obtained experimentally. The controller is robust to dynamic uncertainties and can compensate the effect of friction which is separated from the control input through drive compliance. Simulation and experimental results are also presented.

AB - In this paper, nonlinear robust adaptive controller is proposed for friction compensation. The design has been performed for a six parameter dynamic model of friction. The advocated control design does not utilize any knowledge of these six parameters and requires just an upper bound on the static friction level, which can be obtained experimentally. The controller is robust to dynamic uncertainties and can compensate the effect of friction which is separated from the control input through drive compliance. Simulation and experimental results are also presented.

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DO - 10.1109/acc.1997.611993

M3 - Conference article

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JO - Proceedings of the American Control Conference

JF - Proceedings of the American Control Conference

T2 - Proceedings of the 1997 American Control Conference. Part 3 (of 6)

Y2 - 4 June 1997 through 6 June 1997

ER -

Friction compensation for drives with and without transmission compliance

Abstract

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