Title :
Adaptive friction compensation with time-delay friction model
Author :
Tan, K.K. ; Huang, S.N. ; Lee, T.H.
Author_Institution :
Dept. of Electr. Eng., Nat. Univ. of Singapore, Singapore
Abstract :
We present a new compensation technique for a time delay friction model, which captures the effect of frictional memory. The proposed control utilizes a PD control structure and an adaptive estimate of the friction force. Specifically, a radial basis function is used to compensate the effects of the nonlinearly-occurring parameters in the friction model. Simulation results verify the theory and show that the method can significantly improve the tracking performance of a control system in which it is used.
Keywords :
Lyapunov methods; adaptive control; compensation; delay systems; force control; friction; radial basis function networks; stability; tracking; two-term control; Lyapunov theory; PD control; adaptive control; adaptive estimate; friction compensation; radial basis function; stability; time delay friction model; time-delay systems; tracking; Adaptive control; Contact resistance; Control system synthesis; Control systems; Delay effects; Force control; Friction; PD control; Programmable control; Steady-state;
Conference_Titel :
Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on
Print_ISBN :
0-7803-7268-9
DOI :
10.1109/WCICA.2002.1020720
