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dc.titleAutomatic friction identification and compensation with a self-adapting dual relay
dc.contributor.authorTan, K.K.
dc.contributor.authorXie, Y.
dc.contributor.authorLee, T.H.
dc.identifier.citationTan, K.K.,Xie, Y.,Lee, T.H. (2003). Automatic friction identification and compensation with a self-adapting dual relay. Intelligent Automation and Soft Computing 9 (2) : 83-95. ScholarBank@NUS Repository.
dc.description.abstractThe application of a dual relay feedback approach towards the identification of frictional effects in servo-mechanisms will be presented in this paper. The friction model, thus identified, will consist of Coulomb (including possibly directional Coulomb or load bias) and viscous friction components, both of which can be automatically extracted from suitably designed relay experiments. At the same time, from the same experiments, the dynamical model of the servo-mechanical system can be obtained from the experiments. These models will be directly useful in the design of the feedback controller and the friction compensator. Results from simulation and experiments are presented to illustrate the practical appeal of the proposed method.
dc.subjectCoulomb friction
dc.subjectFriction compensation
dc.subjectFriction identification
dc.subjectRelay feedback
dc.subjectViscous friction
dc.typeConference Paper
dc.contributor.departmentELECTRICAL & COMPUTER ENGINEERING
dc.description.sourcetitleIntelligent Automation and Soft Computing
Appears in Collections:Staff Publications

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