Please use this identifier to cite or link to this item:
|Title:||Friction modeling and adaptive compensation using a relay feedback approach||Authors:||Tan, K.K.
|Issue Date:||Feb-2001||Citation:||Tan, K.K.,Lee, T.H.,Huang, S.N.,Jiang, X. (2001-02). Friction modeling and adaptive compensation using a relay feedback approach. IEEE Transactions on Industrial Electronics 48 (1) : 169-176. ScholarBank@NUS Repository. https://doi.org/10.1109/41.904577||Abstract:||In this paper, the application of a dual-relay feedback approach toward modeling of frictional effects in servomechanisms is addressed. The friction model consists of Coulomb and viscous friction components, both of which can be automatically extracted from suitably designed relay experiments. At the same time, the dynamical model of the servomechanical system can be obtained from the experiments. Thus, a proportional-integral-derivative feedback motion controller and a feedforward friction compensator can be automatically tuned in this manner. The friction model obtained is also directly applicable to initialization of an adaptive control scheme proposed. Results from simulation and experiments are presented to illustrate the practical appeal of the proposed method.||Source Title:||IEEE Transactions on Industrial Electronics||URI:||http://scholarbank.nus.edu.sg/handle/10635/56095||ISSN:||02780046||DOI:||10.1109/41.904577|
|Appears in Collections:||Staff Publications|
Show full item record
Files in This Item:
There are no files associated with this item.
checked on Nov 12, 2019
checked on Oct 28, 2019
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.