Compensation of Stribeck-Type Nonlinear Friction in Positioning Control Using Equivalent-Input-Disturbance Approach | Zendy

Qi Shi | Zendy; Liyu Ouyang | Zendy; Jinhua She | Zendy; Li Xu | Zendy; Junya Imani | Zendy; Yasuhiro Ohyama | Zendy

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Compensation of Stribeck-Type Nonlinear Friction in Positioning Control Using Equivalent-Input-Disturbance Approach

Author(s) -

Qi Shi,

Liyu Ouyang,

Jinhua She,

Li Xu,

Junya Imani,

Yasuhiro Ohyama

Publication year - 2014

Publication title -

journal of advanced computational intelligence and intelligent informatics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.172

H-Index - 20

eISSN - 1343-0130

pISSN - 1883-8014

DOI - 10.20965/jaciii.2014.p0150

Subject(s) - control theory (sociology) , nonlinear system , compensation (psychology) , computer science , disturbance (geology) , estimator , constant (computer programming) , filter (signal processing) , type (biology) , mechatronics , control (management) , mathematics , artificial intelligence , physics , statistics , computer vision , psychology , paleontology , ecology , quantum mechanics , psychoanalysis , biology , programming language

A method of compensating for Stribeck-type nonlinear friction torque for a two-mass mechatronic system has been devised based on the equivalent-inputdisturbance (EID) approach. The nonlinearity in the system is treated as an input-dependent disturbance, and an EID estimator is designed that estimates it. The incorporation of the estimate into the control input compensates for the nonlinearity. Simulation results demonstrate the validity of the method and show that the compensation accuracy is closely related to the time constant of the low-pass filter.

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