Robust adaptive friction compensation in servo-drives using position measurement only

Zhi Wang, Hemant Melkote, Farshad Khorrami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Friction compensation via position measurement only in servo-drives is considered in this paper. A robust nonlinear adaptive controller is designed which uses only the motor position (i.e., the output) for feedback and does not require knowledge of electromechanical system parameters, such as parameters in the friction model, rotor inertia, etc. Moreover, the proposed controller can reject any bounded unknown disturbance. Reduced-order Lunberger observer is introduced and observer-based backstepping procedure is carried out in this paper. Simulation results are depicted to show the performance of the advocated controller.

Original languageEnglish (US)
Title of host publicationIEEE Conference on Control Applications - Proceedings
Pages178-183
Number of pages6
Volume1
StatePublished - 2000

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Position measurement
Friction
Controllers
Backstepping
Rotors
Feedback
Compensation and Redress

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Wang, Z., Melkote, H., & Khorrami, F. (2000). Robust adaptive friction compensation in servo-drives using position measurement only. In IEEE Conference on Control Applications - Proceedings (Vol. 1, pp. 178-183)

Robust adaptive friction compensation in servo-drives using position measurement only. / Wang, Zhi; Melkote, Hemant; Khorrami, Farshad.

IEEE Conference on Control Applications - Proceedings. Vol. 1 2000. p. 178-183.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Wang, Z, Melkote, H & Khorrami, F 2000, Robust adaptive friction compensation in servo-drives using position measurement only. in IEEE Conference on Control Applications - Proceedings. vol. 1, pp. 178-183.
Wang Z, Melkote H, Khorrami F. Robust adaptive friction compensation in servo-drives using position measurement only. In IEEE Conference on Control Applications - Proceedings. Vol. 1. 2000. p. 178-183
Wang, Zhi ; Melkote, Hemant ; Khorrami, Farshad. / Robust adaptive friction compensation in servo-drives using position measurement only. IEEE Conference on Control Applications - Proceedings. Vol. 1 2000. pp. 178-183
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