Adaptive friction compensation or motion stabilization

被引：1
|
作者：
Kim, KS
Park, YJ
机构：
来源：
KSME JOURNAL | 1996年 / 10卷 / 01期
关键词：
motion stabilization; friction observer; feedforward friction compensation; stabilization performance;
D O I：
10.1007/BF02953941
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The motion stabilization problem for the systems with friction force acting as disturbance has been considered. Two friction observer algorithms have been proposed to estimate the Coulomb friction force. One estimates the magnitude of the friction force only, while the other estimates the state and the friction force, simultaneously. The latter is robust to the measurement noise but needs more computation. The simulation study has showed that the compensation using the proposed friction observers greatly improves the stabilization performance.
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页码：31 / 36
页数：6
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