Adaptive Compensation of Friction Forces with Differential Filter | Zendy

Kouichi Mitsunaga | Zendy; Takami Matsuo | Zendy

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Adaptive Compensation of Friction Forces with Differential Filter

Author(s) -

Kouichi Mitsunaga,

Takami Matsuo

Publication year - 2008

Publication title -

international journal of computers communications and control

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.422

H-Index - 33

eISSN - 1841-9844

pISSN - 1841-9836

DOI - 10.15837/ijccc.2008.1.2377

Subject(s) - control theory (sociology) , position (finance) , controller (irrigation) , compensation (psychology) , nonlinear system , filter (signal processing) , differential (mechanical device) , adaptive control , computer science , dynamical friction , physics , artificial intelligence , control (management) , psychology , finance , quantum mechanics , psychoanalysis , agronomy , economics , computer vision , biology , thermodynamics , astrophysics

In this paper, we design an adaptive controller to compensate the non- linear friction model when the output is the position. First, we present an adaptive differential filter to estimate the velocity. Secondly, the dynamic friction force is compensated by a fuzzy adaptive controller with position measurements. Finally, a simulation result for the proposed controller is demonstrated.

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