Adaptive Compensation of Friction Forces with Differential Filter

Adaptive Compensation of Friction Forces with Differential Filter

In this paper, we design an adaptive controller to compensate the nonlinear friction model when the output is the position. First, we present an adaptive differential filter to estimate the velocity. Secondly, the dynamic friction force is compensated by a fuzzy adaptive controller with position mea...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:International Journal of Computers Communications & Control 2008-03, Vol.3 (1), p.80
Hauptverfasser: Mitsunaga, Kouichi, Matsuo, Takami
Format: Artikel
Sprache:eng
Schlagworte:
Adaptive control
Adaptive filters
Control systems design
Controllers
Friction
Fuzzy control
Position measurement
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Beschreibung
Zusammenfassung:In this paper, we design an adaptive controller to compensate the nonlinear friction model when the output is the position. First, we present an adaptive differential filter to estimate the velocity. Secondly, the dynamic friction force is compensated by a fuzzy adaptive controller with position measurements. Finally, a simulation result for the proposed controller is demonstrated.
ISSN:1841-9836
1841-9836
1841-9844
DOI:10.15837/ijccc.2008.1.2377