Robust adaptive friction compensation in servo-drives using position measurement only

Zhi Wang, Hemant Melkote, Farshad Khorrami

Research output: Contribution to conferencePaper

Abstract

Friction compensation via position measurement only in servo-drives is considered in this paper. A robust nonlinear adaptive controller is designed which uses only the motor position (i.e., the output) for feedback and does not require knowledge of electromechanical system parameters, such as parameters in the friction model, rotor inertia, etc. Moreover, the proposed controller can reject any bounded unknown disturbance. Reduced-order Lunberger observer is introduced and observer-based backstepping procedure is carried out in this paper. Simulation results are depicted to show the performance of the advocated controller.

Original languageEnglish (US)
Pages178-183
Number of pages6
StatePublished - 2000

ASJC Scopus subject areas

  • Control and Systems Engineering

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