Analysis and model-based control of servomechanisms with friction

Papadopoulos, EG; Chasparis, GC

dc.contributor.author	Papadopoulos, EG	en
dc.contributor.author	Chasparis, GC	en
dc.date.accessioned	2014-03-01T02:42:04Z
dc.date.available	2014-03-01T02:42:04Z
dc.date.issued	2002	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/30760
dc.subject	Control Engineering	en
dc.subject	Describing Function	en
dc.subject	Friction Compensation	en
dc.subject	Kinetics	en
dc.subject	Model Based Control	en
dc.subject.other	Describing functions	en
dc.subject.other	Error detection	en
dc.subject.other	Feedback control	en
dc.subject.other	Friction	en
dc.subject.other	Mathematical models	en
dc.subject.other	Three term control systems	en
dc.subject.other	Torque	en
dc.subject.other	Two term control systems	en
dc.subject.other	Velocity	en
dc.subject.other	Feedback model-based compensation	en
dc.subject.other	Friction compensation	en
dc.subject.other	Model-based control law	en
dc.subject.other	Servomechanisms	en
dc.title	Analysis and model-based control of servomechanisms with friction	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/IRDS.2002.1041578	en
heal.identifier.secondary	http://dx.doi.org/10.1109/IRDS.2002.1041578	en
heal.publicationDate	2002	en
heal.abstract	Friction is responsible for several servomechanism problems, and their elimination is always a challenge for control engineers. In this paper, feedback model-based compensation of friction is used for servomechanism set point and tracking tasks. Basic friction models are tested and their influence on system response is examined using describing function analysis. Analytical predictions are compared to simulations and experimental results. Various control laws using friction compensation are compared experimentally. Results showed that for both types of tasks, the best response is obtained by a model-based control law with friction compensation using the general kinetic friction model.	en
heal.journalName	IEEE International Conference on Intelligent Robots and Systems	en
dc.identifier.doi	10.1109/IRDS.2002.1041578	en
dc.identifier.volume	3	en
dc.identifier.spage	2109	en
dc.identifier.epage	2114	en