Abstract
The presence of non-linear friction poses a significant problem for controller design in many motion control applications. Since most currently available compensation schemes for non-linear friction require a well-established friction model, the controller design problem becomes more difficult in applications where the frictional forces cannot be modeled accurately. In this paper, friction compensation is considered for an actuator used in a force control application involving very low motion amplitudes. The non-linear frictional effects are particularly significant and are, furthermore, difficult to model accurately. An existing control scheme, originally proposed for sensitivity reduction in systems with plant model uncertainty, is used here for friction compensation. Experimental and simulation results are used to demonstrate the effectiveness of the friction compensation that is achieved using this method, as compared to other methods of friction compensation. Furthermore, the effectiveness of such compensation is quantitatively analysed using two methods: an analysis based on the describing function approach, and a performance robustness analysis based on structured singular values.
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