Observer based friction cancellation in mechanical systems

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dc.citation.epage16en_US
dc.citation.spage12en_US
dc.contributor.authorOdabaş, Caneren_US
dc.contributor.authorMorgül, Ömeren_US
dc.coverage.spatialSeoul, South Korea
dc.date.accessioned2016-02-08T11:37:24Z
dc.date.available2016-02-08T11:37:24Z
dc.date.issued2014-10en_US
dc.departmentDepartment of Electrical and Electronics Engineeringen_US
dc.descriptionDate of Conference: 22-25 Oct. 2014
dc.descriptionConference name: 14th International Conference on Control, Automation and Systems, ICCAS 2014
dc.description.abstractAn 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).en_US
dc.identifier.doi10.1109/ICCAS.2014.6987950en_US
dc.identifier.urihttp://hdl.handle.net/11693/26842
dc.language.isoEnglishen_US
dc.publisherIEEEen_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/ICCAS.2014.6987950en_US
dc.source.title14th International Conference on Control, Automation and Systems, ICCAS 2014en_US
dc.subjectHierarchical position controlen_US
dc.subjectSmith predictor based controlleren_US
dc.subjectClosed loop systemsen_US
dc.subjectControllersen_US
dc.subjectDegrees of freedom (mechanics)en_US
dc.subjectDelay control systemsen_US
dc.subjectFeedback controlen_US
dc.subjectFrictionen_US
dc.subjectTime delayen_US
dc.subjectTribologyen_US
dc.subjectAdaptive observeren_US
dc.subjectController parametrizationen_US
dc.subjectDisturbance attenuationen_US
dc.subjectNon-linear observeren_US
dc.subjectPosition control loopen_US
dc.subjectSmith predictorsen_US
dc.subjectTime-delayed systemsen_US
dc.subjectTwo-degree of freedomen_US
dc.subjectPosition controlen_US
dc.titleObserver based friction cancellation in mechanical systemsen_US
dc.typeConference Paperen_US
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