Abstract
In this paper, the application of a dual relay feedback approach towards modeling of frictional effects in servo-mechanisms is addressed. The friction model consists of Coulomb and viscous friction components, both of which can be automatically extracted from suitably designed relay experiments. At the same time, the dynamical model of the servo-mechanical system can be obtained from the experiments. Thus, a PID feedback motion controller and a feedforward friction compensator can be automatically tuned in this manner. The friction model obtained is also directly applicable to initialisation of an adaptive control scheme proposed. Results from simulation and experiments are presented to illustrate the practical appeal of the proposed method.
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