Title :
Nonlinear friction compensation in harmonic drives with hysteresis
Author :
Dhaouadi, Rached
Author_Institution :
Sch. of Eng., American Univ. of Sharjah, United Arab Emirates
Abstract :
In this paper, a new nonlinear observer-based controller is designed for the compensation of friction in harmonic drive systems with hysteresis. The hysteresis phenomenon in a harmonic drive system is described by a nonlinear differential equation representing the combination of nonlinear stiffness and nonlinear friction. An estimate of the non-measurable friction state is derived using a nonlinear observer structure to provide for asymptotic stability and position tracking. The performance of the proposed system is validated by computer simulation.
Keywords :
asymptotic stability; drives; friction; hysteresis; motion compensation; nonlinear control systems; nonlinear differential equations; observers; position control; asymptotic stability; harmonic drive system; hysteresis; nonlinear differential equation; nonlinear friction compensation; nonlinear observer-based controller; nonlinear stiffness; position tracking; Control systems; Friction; Gears; Hysteresis; Mathematical model; Nonlinear control systems; Observers; Servomechanisms; State estimation; Torque control;
Conference_Titel :
Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on
Print_ISBN :
0-7803-7759-1
DOI :
10.1109/AIM.2003.1225108
