Observer based friction cancellation in mechanical systems
Author
Odabaş, Caner
Morgül, Ömer
Date
2014-10Source Title
14th International Conference on Control, Automation and Systems, ICCAS 2014
Publisher
IEEE
Pages
12 - 16
Language
English
Type
Conference PaperItem Usage Stats
128
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views
96
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Abstract
An adaptive nonlinear observer based friction compensation for a special time delayed system is presented in this paper. Considering existing delay, an available Coulomb observer is modified and closed loop system is formed by using a Smith predictor based controller as if the process is delay free. Implemented hierarchical feedback system structure provides two-degree of freedom and controls both velocity and position separately. For this purpose, controller parametrization method is used to extend Smith predictor structure to the position control loop for different types of inputs and disturbance attenuation. Simulation results demonstrate that without requiring much information about friction force, the method can significantly improve the performance of a control system in which it is applied. © 2014 Institute of Control, Robotics and Systems (ICROS).
Keywords
Hierarchical position controlSmith predictor based controller
Closed loop systems
Controllers
Degrees of freedom (mechanics)
Delay control systems
Feedback control
Friction
Time delay
Tribology
Adaptive observer
Controller parametrization
Disturbance attenuation
Non-linear observer
Position control loop
Smith predictors
Time-delayed systems
Two-degree of freedom
Position control
Permalink
http://hdl.handle.net/11693/26842Published Version (Please cite this version)
http://dx.doi.org/10.1109/ICCAS.2014.6987950Collections
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