Abstract
Friction compensation in a controlled one-link robot using a reduced-order observer is studied. Since friction is generally velocity-dependent and controlled mechanical systems are often only equipped with position sensors, friction compensation requires velocity estimation. Here, a reduced-order linear observer is used for this purpose. For exact friction compensation, design criteria in terms of the controller and observer parameter settings guaranteeing global exponential stability of the set-point are proposed. Moreover, for non-exact friction compensation it is shown that undercompensation leads to the existence of an equilibrium set and overcompensation leads to limit cycling. These results are obtained both numerically and experimentally.
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