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Title: Friction modeling and adaptive compensation using a relay feedback approach
Authors: Tan, K.K. 
Lee, T.H. 
Huang, S.N. 
Jiang, X. 
Keywords: Adaptive control
Friction compensation
Friction modeling
Relay feedback
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.
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
ISSN: 02780046
DOI: 10.1109/41.904577
Appears in Collections:Staff Publications

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