{"title":"Observer-based nonlinear friction compensation in servo drive system","authors":"M. Iwasaki, N. Matsui","doi":"10.1109/AMC.1996.509430","DOIUrl":null,"url":null,"abstract":"This paper presents compensation schemes for nonlinear friction in servo drive systems to improve the control performance. The proposed control scheme uses a new disturbance observer which is designed on the basis of Coulomb friction characteristics. With this observer based compensation, delay-free motion control can be achieved. Experimental results and analytical studies show the significant performance improvement of the proposed scheme.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"12 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"19","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/AMC.1996.509430","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 19
Abstract
This paper presents compensation schemes for nonlinear friction in servo drive systems to improve the control performance. The proposed control scheme uses a new disturbance observer which is designed on the basis of Coulomb friction characteristics. With this observer based compensation, delay-free motion control can be achieved. Experimental results and analytical studies show the significant performance improvement of the proposed scheme.