Friction modeling and control: a comparative study

Author

Teolis, Carole A. ; Kimvilakani, Patrick ; Mattice, Mike

Author_Institution

Techno-Sci. Inc., Lanham, MD, USA

Volume

1

fYear

1999

fDate

1999

Firstpage

169

Abstract

This paper summarizes ongoing research on controlling systems with friction being conducted at Picatinny Arsenal. Linear and variable structure compensation methods are considered. The compensation methods is tested in real time on the Apache gun test bed in the Advanced Drives and Weapon Stabilization Lab at Picatinny Arsenal. This paper presents comparisons of the simulation results. The compensation methods are rated for their ability to adapt when friction parameters are estimated incorrectly. In addition, they are rated for their ability to adapt when the plant friction model is different from the friction model assumed in the controller. The results from simulation are compared with the experimental results

Keywords

compensation; friction; parameter estimation; robust control; variable structure systems; velocity control; weapons; Apache gun; Picatinny Arsenal; compensation; friction modeling; parameter estimation; robust control; test bed; variable structure control; velocity control; weapon; Control design; Control systems; Friction; Kinetic theory; Motion control; Parameter estimation; Steady-state; Testing; Velocity control; Weapons;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1999. Proceedings of the 1999

Conference_Location

San Diego, CA

ISSN

0743-1619

Print_ISBN

0-7803-4990-3

Type

conf

DOI

10.1109/ACC.1999.782762

Filename

782762