Low velocity friction compensation

被引：20

作者：

Du, HL ^{[1
]}

Nair, SS ^{[1
]}

机构：

[1] Univ Missouri, Dept Mech & Aerosp Engn, Comp Controlled Syst Lab, Columbia, MO 65201 USA

来源：

IEEE CONTROL SYSTEMS MAGAZINE | 1998年 / 18卷 / 02期

基金：

美国国家科学基金会;

关键词：

D O I：

10.1109/37.664656

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A model-free design methodology is reported for identification and stable adaptive control of a class of systems with state dependent parasitic effects such as friction. The methodology is constructive, incorporates modeling error bound information, and ensures stable and convergent performance. The identifier and control designs are applicable to a class of low-dimensional dynamic systems with the cited parasitic effects. Validation of the designs is provided using two hardware example cases.

引用

页码：61 / 69

页数：9

共 15 条

[1] A SURVEY OF MODELS, ANALYSIS TOOLS AND COMPENSATION METHODS FOR THE CONTROL OF MACHINES WITH FRICTION
ARMSTRONGHELOUVRY, B
DUPONT, P
DEWIT, CC
[J]. AUTOMATICA, 1994, 30 (07) : 1083 - 1138
[2] ADAPTIVE FRICTION COMPENSATION IN ROBOT MANIPULATORS - LOW VELOCITIES
DEWIT, CC
NOEL, P
AUBIN, A
BROGLIATO, B
[J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1991, 10 (03) : 189 - 199
[3] A NEW MODEL FOR CONTROL OF SYSTEMS WITH FRICTION
DEWIT, CC
OLSSON, H
ASTROM, KJ
LISCHINSKY, P
[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1995, 40 (03) : 419 - 425
[4] Gaussian networks for control of a class of systems with friction
Du, HL
Vargas, V
Nair, SS
[J]. PROCEEDINGS OF THE 1996 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, 1996, : 223 - 228
[5] AVOIDING STICK-SLIP THROUGH PD CONTROL
DUPONT, PE
[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1994, 39 (05) : 1094 - 1097
[6] ON ADAPTIVE FRICTION COMPENSATION
FRIEDLAND, B
PARK, YJ
[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1992, 37 (10) : 1609 - 1612
[7] KUAN A, 1992, PROCEEDINGS OF THE 31ST IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, P2706, DOI 10.1109/CDC.1992.371326
[8] IDENTIFICATION AND CONTROL EXPERIMENTS USING NEURAL DESIGNS
MISTRY, SI
NAIR, SS
[J]. IEEE CONTROL SYSTEMS MAGAZINE, 1994, 14 (03): : 48 - 57
[9] GAUSSIAN NETWORKS FOR DIRECT ADAPTIVE-CONTROL
SANNER, RM
SLOTINE, JJE
[J]. IEEE TRANSACTIONS ON NEURAL NETWORKS, 1992, 3 (06): : 837 - 863
[10] ADAPTIVE VELOCITY CONTROL OF DC MOTORS WITH COULOMB-FRICTION IDENTIFICATION
YANG, YP
CHU, JS
[J]. JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 1993, 115 (01): : 95 - 102

← 1 2 →