Adaptive low-velocity friction compensation

Juan Chen; Tao Chen; Jin Guo; Lei Yan

doi:10.1117/12.444094

4 October 2001 Adaptive low-velocity friction compensation

Juan Chen, Tao Chen, Jin Guo, Lei Yan

Proceedings Volume 4564, Optomechatronic Systems II; (2001) https://doi.org/10.1117/12.444094
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

A stable adaptive controller is reported here for a class of system with state dependent parasitic effects such as friction. The methodology is constructive, and ensures stable and convergent performance. The control design is applicable to a class of dynamic systems working at low speed with the cited parasitic effects. The design is verified by simulation and a hardware example case.

Citation Download Citation

Juan Chen, Tao Chen, Jin Guo, and Lei Yan "Adaptive low-velocity friction compensation", Proc. SPIE 4564, Optomechatronic Systems II, (4 October 2001); https://doi.org/10.1117/12.444094

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