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https://scholarbank.nus.edu.sg/handle/10635/69176
| Title: | Adaptive friction compensation with time-delay friction model | Authors: | Tan, K.K. Huang, S.N. Lee, T.H. |
Issue Date: | 2002 | Citation: | Tan, K.K.,Huang, S.N.,Lee, T.H. (2002). Adaptive friction compensation with time-delay friction model. Proceedings of the World Congress on Intelligent Control and Automation (WCICA) 2 : 969-973. ScholarBank@NUS Repository. | Abstract: | We present a new compensation technique for a time delay friction model, which captures the effect of frictional memory. The proposed control utilizes a 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 nonlinearly-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. | Source Title: | Proceedings of the World Congress on Intelligent Control and Automation (WCICA) | URI: | http://scholarbank.nus.edu.sg/handle/10635/69176 |
| Appears in Collections: | Staff Publications |
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