Adaptive Friction Compensation In The Presence Of Backlash
- Authors
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Lorinc Marton
Department of Electrical Engineering, Sapientia University
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- Abstract
- The behavior of motion control systems with adaptive friction and load compensation algorithm in the presence of backlash is investigated. The applied controller is developed for trajectory tracking tasks and it estimates on-line the nonlinear Stribeck friction. A simulation environment was developed to analyze the effect of the backlash type nonlinearity on control performances. The transient behavior and steady state tracking performances were determined for different backlash gap sizes.
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- Published
- 2009-03-30
- Issue
- Vol. 11 No. 1 (2009)
- Section
- Articles