Experimental study on low velocity friction compensation and tracking control
نویسندگان
چکیده
منابع مشابه
Experimental Study on Low Velocity Friction Compensation and Tracking Control
Stick-slip phenomenon is often associated with the control of low velocity motion because of the positional dependancy of friction and negative damping friction that decreases as the motion speed increases. In this paper, smooth low velocity tracking control of a commercial robot joint is demonstrated experimentally using a combination of high gain PID control, fast sampling rate and high posit...
متن کاملMethods for low-velocity friction compensation: Theory and experimental study
A study of di erent classes of controllers for mechanisms under the in uence of low velocity friction is conducted. Many methods are proposed in the literature for friction compensation, but there has been no signi cant analysis of these methods with respect to each other. Also lacking in the literature is some form of categorization, under which it is possible to describe and study their perfo...
متن کاملOn Methods for Low Velocity Friction Compensation: Theory and Experimental Study
A study of diierent classes of controllers for mechanisms under the innuence of low velocity friction is conducted. Many methods are proposed in the literature for friction compensation, but there has been no signiicant analysis of these methods with respect to each other. Also lacking in the literature is some form of categorization, under which it is possible to describe and study their perfo...
متن کاملLow Velocity Friction Compensation - IEEE Control Systems Magazine
model-free design methodology is reported for identificaA tion and stable adaplive control of a class of systems with state dependent parasitic effects such as friction. The methodology is constructive, incorporates modeling error bound information, and ensures stable and convergent performance. The identifier and control designs are applicable to a class of lowdimensional dynamic systems with ...
متن کاملNew Results in NPID Control: Tracking, Integral Control, Friction Compensation and Experimental Results
Nonlinear (NPID) control is implemented by varying the controller gains as a function of system state. NPID control has been previously described and implemented, and recently a constructive Lyapunov stability proof has been given. Here, NPID control analysis and design methods are extended to tracking, and to systems with state feedback and integral control. Experimental results are presented ...
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ژورنال
عنوان ژورنال: Journal of Automatic Control
سال: 2003
ISSN: 1450-9903,2406-0984
DOI: 10.2298/jac0302017p