Robust adaptive friction compensation using linearly-parameterized GMS model

2007 ◽  
Author(s):  
Itthisek Nilkhamhang ◽  
Akira Sano
Keyword(s):  
Friction Compensation ◽  
Robust Adaptive

Robust adaptive deadzone and friction compensation of robot manipulator using RWCMAC network

2011 ◽  
Vol 25 (6) ◽  
pp. 1583-1594 ◽  
Author(s):  
Seong Ik Han ◽  
Kwon Soon Lee ◽  
Min Gyu Park ◽  
Jang Myung Lee
Keyword(s):  
Robot Manipulator ◽  
Friction Compensation ◽  
Robust Adaptive

High-accuracy robust adaptive motion control of a torque-controlled motor servo system with friction compensation based on neural network

2018 ◽  
Vol 233 (7) ◽  
pp. 2318-2328 ◽  
Author(s):  
Jian Hu ◽  
Yuangang Wang ◽  
Lei Liu ◽  
Zhiwei Xie
Keyword(s):  
Neural Network ◽  
Motion Control ◽  
Servo System ◽  
High Accuracy ◽  
Robust Adaptive Control ◽  
Lyapunov Theory ◽  
Parametric Estimation ◽  
Friction Compensation ◽  
Nonlinear Friction ◽  
Robust Adaptive

In this paper, a high-accuracy motion control of a torque-controlled motor servo system with nonlinear friction compensation is presented. Friction always exists in the servo system and reduces its tracking accuracy. Thus, it is necessary to compensate for the friction effect. In this paper, a novel controller that combines robust adaptive control with friction compensation based on neural network observer is proposed. An improved LuGre friction model is applied into the friction compensation as it is known as a good model to express the nonlinear friction. A single hidden-layer network is utilized to observe the immeasurable friction state. Then, the robust adaptive controller is used to handle the parametric uncertainty, the parametric estimation error, friction compensation error, and other uncertainties. Lyapunov theory is utilized to analyze the stability of the closed-loop system. The experimental results demonstrate the effectiveness of the proposed algorithm.

Robust adaptive stick-slip friction compensation

1995 ◽  
Vol 42 (5) ◽  
pp. 474-479 ◽  
Author(s):  
Seon-Woo Lee ◽  
Jong-Hwan Kim
Keyword(s):  
Friction Compensation ◽  
Stick Slip ◽  
Robust Adaptive
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