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Adaptive friction compensation with a time-delay friction model

Tan, K.K.
Huang, S.
Lee, T.H.
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Abstract
This paper presents a new compensation technique for a time-delay friction model that captures the effect of frictional memory. The proposed control utilizes a proportional-derivative (PD) control structure and an adaptive estimate of the friction force. Specifically, a radial basis function (RBF) is used to compensate the effects of the non-linearly 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
Adaptive control, Friction compensation, Time-delay systems
Source Title
Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
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Date
2004-05
DOI
10.1243/095965104773913858
Type
Conference Paper
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