In this paper, a compensation method of nonlinear friction using on-line input estimation (IE) method is developed. To illustrate the validity and performance of the proposed algorithm applied to positioning system, comparisons with the results using the Gomonwattanapanich method and robustness analysis are performed. The simulation result shows that the estimated friction torque does not need any assumption in the pattern of friction model in advance, the proposed algorithm has consistent robustness to diverse friction characteristics, and the method can significantly improve the performance of a control system.
Compensation and Estimation of Friction by Using On-Line Input Estimation Algorithm
Contributed by the Tribology Division of ASME for publication in the JOURNAL OF TRIBOLOGY. Manuscript received August 30, 2013; final manuscript received November 5, 2013; published online January 20, 2014. Assoc. Editor: George K. Nikas.
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Jang, H., and Luo, Y. (January 20, 2014). "Compensation and Estimation of Friction by Using On-Line Input Estimation Algorithm." ASME. J. Tribol. April 2014; 136(2): 021605. https://doi.org/10.1115/1.4026063
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