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      Observer based friction cancellation in mechanical systems

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      Author
      Odabaş, Caner
      Morgül, Ömer
      Date
      2014-10
      Source Title
      14th International Conference on Control, Automation and Systems, ICCAS 2014
      Publisher
      IEEE
      Pages
      12 - 16
      Language
      English
      Type
      Conference Paper
      Item Usage Stats
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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 control
      Smith 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/11693/26842
      Published Version (Please cite this version)
      http://dx.doi.org/10.1109/ICCAS.2014.6987950
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      • Department of Electrical and Electronics Engineering 3524
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