ON FRICTION COMPENSATION WITHOUT FRICTION MODEL
作者： Mazen Alamir
DOI: 10.3182/20020721-6-ES-1901.01062
关键词: Free model 、 Collision response 、 Velocity measurement 、 Tracking error 、 Robustness (computer science) 、 Engineering 、 Lyapunov approach 、 Fourier series 、 Inertia 、 Control theory
摘要: Abstract This paper presents a new methodology for friction compensation that is not based on any model. done by using finite-terms Fourier series to approximate the term. Updating laws coefficients of are easily derived from Lyapunov approach guarantee asymptotic convergence tracking error. Computer simulations then proposed in which term generated existing models (unknown controller) illustrate efficiency compensating effects without Extension case unknown inertia also proposed. Robustness against velocity measurement errors investigated simulation showing better robustness than model-based schemes.
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