Friction compensation in a controlled one-link robot using a reduced-order observer

N. Mallon, N. van de Wouw, D. Putra, H. Nijmeijer
2006 IEEE Transactions on Control Systems Technology  
Friction compensation in a controlled one-link robot using a reducedorder observer is studied. Since friction is generally velocity-dependent and controlled mechanical systems are often only equipped with position sensors, friction compensation requires velocity estimation. Here, a reduced-order linear observer is used for this purpose. For exact friction compensation, design criteria in terms of the controller and observer parameter settings guaranteeing global exponential stability of the
more » ... tability of the set-point are proposed. Moreover, for non-exact friction compensation it is shown that undercompensation leads to the existence of an equilibrium set and overcompensation leads to limit cycling. These results are obtained both numerically and experimentally.
doi:10.1109/tcst.2005.863674 fatcat:diikk5hsgrcwzalbdha5myx6x4