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    Comparison of EKBF-based and Classical Friction Compensation

    Source: Journal of Dynamic Systems, Measurement, and Control:;2007:;volume( 129 ):;issue: 002::page 236
    Author:
    Ashok Ramasubramanian
    ,
    Laura R. Ray
    DOI: 10.1115/1.2431817
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: In servo control, traditionally, models that attempt to capture the friction-velocity curve and interactions at contacting surfaces have been used to compensate for friction-introduced tracking errors. Recently, however, extended Kalman-Bucy filter (EKBF)-based approaches that do not use a phenomenological or structured model for friction have been proposed. In addition to being cast as a friction estimator, the EKBF can also be used to provide parameter adaptation for simple friction models. In this paper, a traditional motor-driven inertia experiment is used to demonstrate the usefulness of EKBF in friction compensation. In addition, a numerical simulation is used to test the robustness of the new methods to normal force variations. Using root mean square position tracking error as the performance metric, comparisons to traditional model-based approaches are provided.
    keyword(s): Friction ,
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      Comparison of EKBF-based and Classical Friction Compensation

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    contributor authorAshok Ramasubramanian
    contributor authorLaura R. Ray
    date accessioned2017-05-09T00:23:13Z
    date available2017-05-09T00:23:13Z
    date copyrightMarch, 2007
    date issued2007
    identifier issn0022-0434
    identifier otherJDSMAA-26367#236_1.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/135487
    description abstractIn servo control, traditionally, models that attempt to capture the friction-velocity curve and interactions at contacting surfaces have been used to compensate for friction-introduced tracking errors. Recently, however, extended Kalman-Bucy filter (EKBF)-based approaches that do not use a phenomenological or structured model for friction have been proposed. In addition to being cast as a friction estimator, the EKBF can also be used to provide parameter adaptation for simple friction models. In this paper, a traditional motor-driven inertia experiment is used to demonstrate the usefulness of EKBF in friction compensation. In addition, a numerical simulation is used to test the robustness of the new methods to normal force variations. Using root mean square position tracking error as the performance metric, comparisons to traditional model-based approaches are provided.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleComparison of EKBF-based and Classical Friction Compensation
    typeJournal Paper
    journal volume129
    journal issue2
    journal titleJournal of Dynamic Systems, Measurement, and Control
    identifier doi10.1115/1.2431817
    journal fristpage236
    journal lastpage242
    identifier eissn1528-9028
    keywordsFriction
    treeJournal of Dynamic Systems, Measurement, and Control:;2007:;volume( 129 ):;issue: 002
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
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