Adaptive friction compensations for mechanical systems with measurement delay

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buir.contributor.authorOdabaş, Caner
buir.contributor.authorMorgül, Ömer
dc.citation.epage1759en_US
dc.citation.issueNumber8
dc.citation.spage1745en_US
dc.citation.volumeNumber43
dc.contributor.authorOdabaş, Caner
dc.contributor.authorMorgül, Ömer
dc.date.accessioned2021-03-10T08:22:23Z
dc.date.available2021-03-10T08:22:23Z
dc.date.issued2021
dc.departmentDepartment of Electrical and Electronics Engineeringen_US
dc.description.abstractApplication performance of mechanical positioning systems might not coincide with the theory, mainly due to nonlinearities or imperfections of system models. Although it is sometimes possible to ignore these mismatches, systems generally suffer from performance degradation or even instability eventually. Especially, friction force and time delay are two major factors of these undesired effects. Hence, in this paper, Smith predictor-based controllers and an adaptive Coulomb friction observer are designed to enhance position tracking performance of a mechanical system including time delay. In fact, implemented hierarchical control scheme provides two-degree of freedom to control both velocity and position separately. The proposed observer structure is mainly motivated by the Friedland-Park observer but could be considered as an extension of it which characterizes a general class of nonlinear functions for friction estimation. To assure its functionality with delayed measurements, different velocity predictor schemes are designed and their performances are compared. As a guideline for observer design, some conditions for exponential stability and robustness analysis are presented. Simulation results demonstrate that the proposed control system enhances the tracking performance even when the actual friction is a compound of various static and dynamic terms.en_US
dc.identifier.doi10.1177/0142331220947568en_US
dc.identifier.issn0142-3312
dc.identifier.urihttp://hdl.handle.net/11693/75911
dc.language.isoEnglishen_US
dc.publisherSAGE Publicationsen_US
dc.relation.isversionofhttps://dx.doi.org/10.1177/0142331220947568en_US
dc.source.titleTransactions of the Institute of Measurement and Controlen_US
dc.subjectFriction observeren_US
dc.subjectTime delayen_US
dc.subjectSmith predictoren_US
dc.subjectController parametrizationen_US
dc.subjectHierarchical position controlen_US
dc.subjectAdaptive controlen_US
dc.titleAdaptive friction compensations for mechanical systems with measurement delayen_US
dc.typeArticleen_US

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