제어로봇시스템학회:학술대회논문집
- 2001.10a
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- Pages.108.5-108
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- 2001
Robust Friction Compensation Control Using a Nonliner Observer
- Nakamura, Yuichiro (Shizuoka Institute of Science and Technology) ;
- Niwa, Shohei (Shizuoka Institute of Science and Technology)
- Published : 2001.10.01
Abstract
The research of friction compensation control system seeks the accuracy, the velocity increase of the table, and the settling time reduction. The friction is the disturbance which has the greatest influence, but the past research of control system doesn´t perform exact modeling of the friction. So this research aims at the friction compensation control system, the exact modeling of the friction, comparison between the model simulation and experimental data, and the design of observer for the friction estimation.
Keywords