Adaptive friction compensation using extended Kalman-Bucy filter friction estimation

被引：43
|
作者：
Ray, LR [1 ]
Ramasubramanian, A [1 ]
Townsend, J [1 ]
机构：
[1] Dartmouth Coll, Thayer Sch Engn, Hanover, NH 03755 USA
来源：
CONTROL ENGINEERING PRACTICE | 2001年 / 9卷 / 02期
基金：
美国国家科学基金会;
关键词：
friction compensation; nonlinear adaptive control; non-model-based observers;
D O I：
10.1016/S0967-0661(00)00104-0
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An extended Kalman-Bucy filter (EKBF)-based friction compensation method is presented and validated. The method relies on an accurate model of system rigid-body dynamics and measured motion, rather than a structured nonlinear friction model, to estimate external friction torque. The estimate is used in a traditional friction compensator to cancel friction effects.. The EKBF compensator is compared with other model-based and non-model-based friction compensation strategies through position tracking experiments. Results show that when motion is dominated by static and Stribeck friction, non-model-based friction estimation and compensation using the EI(BF consistently provides equal or superior performance over model-based adaptive friction compensation methods. (C) 2001 Elsevier Science Ltd. All rights reserved.
引用
收藏
页码：169 / 179
页数：11
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