Compensation of Stick-Slip Phenomenon in an Electrical Actuator | Zendy

Rochdi Merzouki | Zendy; Cadiou J.C. | Zendy; N.K. M’Sirdi | Zendy

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Compensation of Stick-Slip Phenomenon in an Electrical Actuator

Author(s) -

Rochdi Merzouki,

Cadiou J.C.,

N.K. M’Sirdi

Publication year - 2003

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2003.p0398

Subject(s) - control theory (sociology) , actuator , slip (aerodynamics) , nonlinear system , static friction , compensation (psychology) , robot , observer (physics) , computer science , coulomb friction , engineering , physics , materials science , control (management) , artificial intelligence , psychology , quantum mechanics , psychoanalysis , composite material , aerospace engineering

In mechanical systems involving low-speed motion, consisting of a succession of jumps and stops, as in trained wagons or manipulated robots, control usually exhibits error when the static friction force exceeds the dynamic friction force in what is known as the stick-slip effect. We developed a nonlinear observer to determine the friction force of contact during motion and to compensate for its effect. Simulation and experimental results show global convergence to equilibrium and good performance by the adaptive controller.

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