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
相关论文
共 50 条
  • [21] On the stability and the concentration of extended Kalman-Bucy filters
    Del Moral, Pierre
    Kurtzmann, Aline
    Tugaut, Julian
    [J]. ELECTRONIC JOURNAL OF PROBABILITY, 2018, 23
  • [22] INPUT-ADAPTIVE KALMAN-BUCY FILTERING
    BRAMMER, KG
    [J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1970, AC15 (01) : 157 - &
  • [23] Attenuation of multiple in reflection seismic data using Kalman-Bucy filter
    Rocha, Marcus P. C.
    Leite, Lourenildo W. B.
    Santos, Mauro de L.
    Farias, Valcir J. da C.
    [J]. APPLIED MATHEMATICS AND COMPUTATION, 2007, 189 (01) : 805 - 815
  • [24] Friction coefficient estimation using an unscented Kalman filter
    Zhao, Yunshi
    Liang, Bo
    Iwnicki, Simon
    [J]. VEHICLE SYSTEM DYNAMICS, 2014, 52 : 220 - 234
  • [25] A Convergence Result for the Unscented Kalman-Bucy Filter using Contraction Theory
    Maree, J. P.
    Imsland, L.
    Jouffroy, J.
    [J]. 2013 EUROPEAN CONTROL CONFERENCE (ECC), 2013, : 2134 - 2139
  • [26] Linear Kalman-Bucy Filter with Autoregressive Signal and Noise
    Tovstik, T. M.
    [J]. VESTNIK ST PETERSBURG UNIVERSITY-MATHEMATICS, 2018, 51 (03) : 276 - 285
  • [27] Friction estimation of ball and plate system based on extended Kalman filter
    Zhang Xuefei
    Tian Yantao
    Wang Hongrui
    Ding Ce
    [J]. PROCEEDINGS OF THE 26TH CHINESE CONTROL CONFERENCE, VOL 2, 2007, : 375 - +
  • [28] An ensemble Kalman-Bucy filter for continuous data assimilation
    Bergemann, Kay
    Reich, Sebastian
    [J]. METEOROLOGISCHE ZEITSCHRIFT, 2012, 21 (03) : 213 - 219
  • [29] ADAPTIVE KALMAN-BUCY FILTER FOR DIFFERENTIAL ABSORPTION LIDAR TIME-SERIES DATA
    WARREN, RE
    [J]. APPLIED OPTICS, 1987, 26 (22): : 4755 - 4760
  • [30] A COMPARATIVE STUDY OF FRICTION ESTIMATION AND COMPENSATION USING EXTENDED, ITERATED, HYBRID, AND UNSCENTED KALMAN FILTERS
    Ahnnad, Aftab
    Andersson, Kjell
    Sellgren, Ulf
    [J]. PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2013, VOL 7A, 2014,
12345