Adaptive Compensation of Friction Forces with Differential Filter

Authors

  • Kouichi Mitsunaga Oita Institute of Technology Control Engineering Department 407-27 Higashihama, Nakatsu, Oita, Japan 871-0006
  • Takami Matsuo Oita University Department of Architecture and Mechatronics 700 Dannoharu, Oita, Japan 870-1192

Keywords:

nonlinear friction, adaptive controller, fuzzy basis function expansion, adaptive differential filter

Abstract

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.

References

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Published

2008-03-01

Issue

Vol. 3 No. 1 (2008): International Journal of Computers Communications & Control (March)

Section

Articles

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