Friction Compensation in Mechatronic Systems

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F17%3A43931944" target="_blank" >RIV/49777513:23520/17:43931944 - isvavai.cz</a>
Result on the web
<a href="http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7970377" target="_blank" >http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7970377</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/CarpathianCC.2017.7970377" target="_blank" >10.1109/CarpathianCC.2017.7970377</a>

Result language
angličtina
Original language name
Friction Compensation in Mechatronic Systems
Original language description
The paper deals with model-based compensation of friction in velocity and position controlled servomechanisms. A class of single degree of freedom mechanical systems with friction nonlinearity acting at the plant input is considered. Two approaches to friction compensation using dynamic model-based feedforward control and disturbance observer based feedback control are studied and compared to each other. Experimental results with an industrial grade robotic manipulator demonstrate the performance of the proposed methods
Czech name
—
Czech description
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Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the 2017 18th International Carpathian Control Conference (ICCC)
ISBN
978-1-5090-4862-5
ISSN
—
e-ISSN
neuvedeno
Number of pages
6
Pages from-to
93-98
Publisher name
IEEE
Place of publication
Neuvedeno
Event location
Sinaia, Romania
Event date
May 28, 2017
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000426954400018

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