Title :
A nonlinear observer for friction estimation and compensation in harmonic drives
Author :
Dhaouadi, Rached
Author_Institution :
Sch. of Eng., Sharjah American Univ, United Arab Emirates
Abstract :
A nonlinear observer is designed for the estimation of the nonlinear dynamic friction in harmonic drive systems with hysteresis. The hysteresis phenomenon in a harmonic drive system is modeled by a nonlinear differential equation. A nonlinear observer-based controller for friction compensation is next developed and its stability analysis is performed using the Lyapunov theory. The performance and asymptotic stability of the proposed system is validated using numerical simulation.
Keywords :
Lyapunov methods; asymptotic stability; electric drives; friction; hysteresis; machine control; nonlinear control systems; observers; Lyapunov theory; asymptotic stability; friction compensation; friction estimation; harmonic drive systems; harmonic drives; hysteresis phenomenon; nonlinear differential equation; nonlinear observer-based controller; numerical simulation; stability analysis; Actuators; Degradation; Differential equations; Friction; Gears; Hysteresis motors; Mathematical model; Nonlinear dynamical systems; State estimation; Torque;
Conference_Titel :
Power Electronics and Drive Systems, 2003. PEDS 2003. The Fifth International Conference on
Print_ISBN :
0-7803-7885-7
DOI :
10.1109/PEDS.2003.1282781
