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.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.