Journal ArticleDOI
Robust control for servo-mechanisms under inexact friction compensation
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TLDR
A new control scheme seeking to strengthen the closed-loop system properties in the eventuality of friction overcompensation is proposed, which has the advantage that, in the case of frictionovercompensation, the oscillations can be reduced in amplitude and modified in frequency independently of the closed -loop system specifications.About:
This article is published in Automatica.The article was published on 1993-05-20. It has received 51 citations till now.read more
Citations
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Journal ArticleDOI
Control of manipulators and wheeled transport robots as systems of rigid bodies
TL;DR: In this article, the basic problems that arise in designing systems of control of such facilities are considered, and the equations of model motion are derived, a specified trajectory is parametrized, and a stabilization algorithm is synthesized (including linear, nonlinear, adaptive, and robust controllers).
Journal ArticleDOI
Asymptotic tracking control scheme for mechanical systems with external disturbances and friction
TL;DR: A Lyapunov stability analysis is performed to show that the proposed control scheme can be used to yield a semi-global asymptotic tracking result rather than uniformly ultimately bounded (UUB) results derived by typical NN-based controllers.
Journal ArticleDOI
Computationally Efficient Adaptive Type-2 Fuzzy Control of Flexible-Joint Manipulators
TL;DR: An adaptive type-2 fuzzy logic controller (FLC) forlexible-joint manipulators with structured and unstructured dynamical uncertainties with stability guaranteed using Lyapunovstability theory is introduced.
Journal ArticleDOI
An efficient identification method for friction in single-DOF motion control systems
TL;DR: The proposed method requires neither the information of acceleration nor the accurate information of mass for its implementation, in contrast with the previously known offline identification methods, due to the orthogonality property between acceleration and any function of velocity.
Control of limit cycling in frictional mechanical systems
TL;DR: In this article, the authors investigated limit cycling behavior of observer-based controlled mechanical systems with friction compensation and showed that limit cycling is induced by the interaction between friction and friction compensation, which is based on the estimated velocity.
References
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Book
Relay Control Systems
TL;DR: This book is to present a theory of relay control systems that is based on the concepts of transfer functions and frequency and time characteristics, and while giving an account of the general properties of relaycontrol systems, the author devotes ample space to the analysis and computation of concrete examples.
Journal ArticleDOI
Adaptive friction compensation in robot manipulators: low velocities
TL;DR: A new model, linear in parameters, which captures the downward bends at low velocity is used to adoptively compensate for friction, which was tested experimentally in a robot manipulator.
Journal ArticleDOI
Adaptive friction compensation in dc-motor drives
TL;DR: A control scheme where the nonlinear effects of friction are compensated adaptively and a combination of a fixed linear controller and an adaptive part which compensates for nonlinear friction effects is proposed.
Journal ArticleDOI
The effects of backlash and of speed-dependent friction on the stability of closed-cycle control systems
TL;DR: In this article, the effect of backlash and friction on closed-cycled control systems is investigated. But the effects of the harmonics that are also produced because of the essentially non-linear nature of these phenomena are disregarded.
Proceedings ArticleDOI
Friction: experimental determination, modeling and compensation
TL;DR: A friction model is developed and used to precompute motion torques and the application of a precomputed torques in an open-loop fashion results in motion accurate to within a few percent.