Please use this identifier to cite or link to this item: https://doi.org/10.1109/41.904577
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dc.titleFriction modeling and adaptive compensation using a relay feedback approach
dc.contributor.authorTan, K.K.
dc.contributor.authorLee, T.H.
dc.contributor.authorHuang, S.N.
dc.contributor.authorJiang, X.
dc.date.accessioned2014-06-17T02:50:40Z
dc.date.available2014-06-17T02:50:40Z
dc.date.issued2001-02
dc.identifier.citationTan, 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. <a href="https://doi.org/10.1109/41.904577" target="_blank">https://doi.org/10.1109/41.904577</a>
dc.identifier.issn02780046
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/56095
dc.description.abstractIn 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.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/41.904577
dc.sourceScopus
dc.subjectAdaptive control
dc.subjectFriction compensation
dc.subjectFriction modeling
dc.subjectRelay feedback
dc.typeArticle
dc.contributor.departmentELECTRICAL & COMPUTER ENGINEERING
dc.description.doi10.1109/41.904577
dc.description.sourcetitleIEEE Transactions on Industrial Electronics
dc.description.volume48
dc.description.issue1
dc.description.page169-176
dc.description.codenITIED
dc.identifier.isiutNOT_IN_WOS
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