Title :
Observer-based friction compensation
Author :
Olsson, Henrik ; Åström, Karl J.
Author_Institution :
Dept. of Autom. Control, Lund Inst. of Technol., Sweden
Abstract :
This paper treats model-based friction compensation using a dynamic friction model. The compensation requires an observer for an unknown state. Properties of an observer are explored and used to derive control strategies. The observer-based control strategy is explored in an example. Its performance is investigated in terms of sensitivity to model errors and noise
Keywords :
compensation; control system synthesis; friction; motion control; observers; sensitivity; velocity control; control strategies; dynamic friction model; model errors; noise; observer-based friction compensation; sensitivity; Automatic control; Control systems; Force control; Friction; Linear systems; Mathematical model; Motion control; Observers; Pneumatic actuators; Proportional control;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.577475
