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P. Lischinsky

Other affiliations: University of Los Andes
Bio: P. Lischinsky is an academic researcher from École nationale supérieure d'ingénieurs électriciens de Grenoble. The author has contributed to research in topics: Dynamical friction & Adaptive control. The author has an hindex of 7, co-authored 8 publications receiving 5486 citations. Previous affiliations of P. Lischinsky include University of Los Andes.

Papers
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Journal ArticleDOI
TL;DR: A new dynamic model for friction is proposed that captures most of the friction behavior that has been observed experimentally, including the Stribeck effect, hysteresis, spring-like characteristics for stiction, and varying break-away force.
Abstract: In this paper we propose a new dynamic model for friction. The model captures most of the friction behavior that has been observed experimentally. This includes the Stribeck effect, hysteresis, spring-like characteristics for stiction, and varying break-away force. Properties of the model that are relevant to control design are investigated by analysis and simulation. New control strategies, including a friction observer, are explored, and stability results are presented. >

3,416 citations

Journal ArticleDOI
TL;DR: This paper reviews friction phenomena and friction models of interest for automatic control, with particular emphasis given to two recently developed dynamic friction models: the Bliman-Sorine model and the LuGre model.

1,575 citations

Journal ArticleDOI
TL;DR: In this article, a model-based adaptive friction compensation on a DC motor servomechanism is proposed to deal with structured normal forces and temperature variations, assuming that a nominal friction model is known and that the friction variations can be suitably structured.
Abstract: This paper illustrates the application of a model-based adaptive friction compensation on a DC motor servomechanism. The dynamic friction model and the control structure studied previously by the authors were used as a basis for this study. The paper first proposes a two-step off-line method to estimate the nominal static and dynamic parameters associated with the model. Then two adaptive globally stable mechanisms are introduced to deal with structured normal forces and temperature variations. Assuming that a nominal friction model is known and that the friction variations can be suitably structured, adaptation is performed on the basis of only one parameter. The paper presents experimental results validating the identification of the dynamic friction model and the adaptive control scheme. These results show that the adaptive loop improves over a fixed compensation scheme and over a PID controller without friction compensation. © 1997 by John Wiley & Sons, Ltd.

466 citations

Journal ArticleDOI
TL;DR: In this article, a model based friction compensation scheme using a novel dynamical friction model was implemented on an industrial Schilling Titan II hydraulic robot, and the complete control scheme has shown to substantially improve the position precision in regulation and tracking.
Abstract: A model based friction compensation scheme using a novel dynamical friction model was implemented on an industrial Schilling Titan II hydraulic robot. Off-line estimation of parameters was carried out, using the results of two kinds of experiments. These experiments were done independently at each joint. A nonlinear PI type controller was used in the inner torque loop to improve its performance. The complete control scheme has shown to substantially improve the position precision in regulation and tracking. Higher precision applications can be performed by the hydraulic robot with this controller.

192 citations

Proceedings ArticleDOI
02 Jun 1993
TL;DR: In this paper, the Stribeck effect, hysteresis behavior, spring-like characteristics in stiction and stick-slip regime, and dissipative properties of the models are analyzed.
Abstract: In this paper we propose two new dynamic friction models that include most of the relevant properties that friction has been observed to have (Stribeck effect, hysteresis behavior, spring-like characteristics in stiction and stick-slip regime). Properties of these models that are relevant to control design are studied. In particular we analyse the dissipative properties of the models. New control strategies are investigated and stability results are presented.

118 citations


Cited by
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Journal ArticleDOI
TL;DR: This survey is the first to bring to the attention of the controls community the important contributions from the tribology, lubrication and physics literatures, and provides a set of models and tools for friction compensation which will be of value to both research and application engineers.

2,658 citations

Journal ArticleDOI
TL;DR: This paper reviews friction phenomena and friction models of interest for automatic control, with particular emphasis given to two recently developed dynamic friction models: the Bliman-Sorine model and the LuGre model.

1,575 citations

Journal ArticleDOI
TL;DR: The global exponential stability of the proposed disturbance observer (DO) is guaranteed by selecting design parameters, which depend on the maximum velocity and physical parameters of robotic manipulators.
Abstract: A new nonlinear disturbance observer (NDO) for robotic manipulators is derived in this paper. The global exponential stability of the proposed disturbance observer (DO) is guaranteed by selecting design parameters, which depend on the maximum velocity and physical parameters of robotic manipulators. This new observer overcomes the disadvantages of existing DOs, which are designed or analyzed by linear system techniques. It can be applied in robotic manipulators for various purposes such as friction compensation, independent joint control, sensorless torque control and fault diagnosis. The performance of the proposed observer is demonstrated by the friction estimation and compensation for a two-link robotic manipulator. Both simulation and experimental results show the NDO works well.

1,424 citations

Journal ArticleDOI
TL;DR: A new method based on the exploitation of the dynamical features of stochastic nonlinear oscillators is shown to outperform standard linear oscillators and to overcome some of the most severe limitations of present approaches.
Abstract: Ambient energy harvesting has been in recent years the recurring object of a number of research efforts aimed at providing an autonomous solution to the powering of small-scale electronic mobile devices. Among the different solutions, vibration energy harvesting has played a major role due to the almost universal presence of mechanical vibrations. Here we propose a new method based on the exploitation of the dynamical features of stochastic nonlinear oscillators. Such a method is shown to outperform standard linear oscillators and to overcome some of the most severe limitations of present approaches. We demonstrate the superior performances of this method by applying it to piezoelectric energy harvesting from ambient vibration.

1,055 citations

Book ChapterDOI
01 Jan 2014
TL;DR: The history of attitude sensor development has emphasized increased resolution and accuracy as well as decreased size, weight, and power (often abbreviated as SWaP).
Abstract: This chapter will discuss several kinds of sensors and actuators used to determine and control spacecraft attitude [26, 44, 54, 66]. The history of attitude sensor development has emphasized increased resolution and accuracy as well as decreased size, weight, and power (often abbreviated as SWaP). Actuator technologies have also been scaled down to be appropriate for microsatellites and cubesats. We begin with a brief introduction to redundancy considerations, and then consider some specific sensors and actuators.

740 citations