Title :
Adaptive Estimation of Friction Forces with Fuzzy Basis Function Expansion
Author :
Mitsunaga, Kouichi ; Matsuo, Takami
Author_Institution :
Control Eng. Dept., Oita Inst. of Technol.
Abstract :
In this note, we design adaptive observers to estimate the nonlinear friction model when the output is the velocity and the position, respectively. First, two adaptive observer are designed to estimate the viscous friction force in the velocity measurement and in the position measurement, respectively. Secondly, the kinetic friction force and the dynamic friction force are estimated by the fuzzy adaptive observers in the position measurement. Finally, simulation results for the proposed observers are presented
Keywords :
adaptive estimation; adaptive systems; friction; fuzzy systems; nonlinear systems; observers; dynamic friction force estimation; fuzzy adaptive observer design; fuzzy basis function expansion; kinetic friction force estimation; nonlinear friction model estimation; position measurement; velocity measurement; viscous friction force adaptive estimation; Adaptive estimation; Force measurement; Friction; Function approximation; Kinetic theory; Manipulator dynamics; Observers; Position measurement; Torque control; Velocity measurement; Nonlinear friction; adaptive observer; fuzzy basis function expansion;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.315032
