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Title: Adaptive friction compensation with a dynamical friction model
Authors: Lee, T.H. 
Tan, K.K. 
Huang, S. 
Keywords: Adaptive control
friction compensation
nonlinear systems
Issue Date: Feb-2011
Citation: Lee, T.H., Tan, K.K., Huang, S. (2011-02). Adaptive friction compensation with a dynamical friction model. IEEE/ASME Transactions on Mechatronics 16 (1) : 133-140. ScholarBank@NUS Repository.
Abstract: This paper presents a new compensation technique for dynamic friction. The proposed control utilizes a PD control structure and an adaptive estimation of the friction force based on an observer. Specifically, a nonlinear function is used to compensate the nonlinear effects of the parameters in the friction model. Simulations and experimental results verify the theory and show that the method can significantly improve the tracking performance of the motion control system. © 2006 IEEE.
Source Title: IEEE/ASME Transactions on Mechatronics
ISSN: 10834435
DOI: 10.1109/TMECH.2009.2036994
Appears in Collections:Staff Publications

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