Title :
On estimation of dynamic friction
Author :
Friedland, Bernard ; Mentzelopoulou, Sofia
Author_Institution :
Dept. of Electr. & Comput. Eng., New Jersey Inst. of Technol., Newark, NJ, USA
Abstract :
Evidence is mounting that friction is a dynamic phenomenon. Three techniques for estimating dynamic friction are presented. The first uses an observer based on a static model; the second uses an observer that tracks the friction force; the third is based on estimation of the friction coefficient of a correct dynamic model. By simulation it is found that the observer that is based on the correct model performs the best, but all are satisfactory. The results indicate that the dynamic effects of friction in control systems can be dealt with effectively
Keywords :
control system analysis; control systems; friction; state estimation; dynamic friction; dynamic model; friction coefficient; observer; static model; Control system synthesis; Feedback loop; Force control; Friction; Hysteresis; Nonlinear dynamical systems; Parameter estimation; Stability; Velocity measurement;
Conference_Titel :
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-1298-8
DOI :
10.1109/CDC.1993.325528
