HOSIDF-based feedforward friction compensation in low-velocity motion control systems

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00225598" target="_blank" >RIV/68407700:21230/14:00225598 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1016/j.mechatronics.2013.12.005" target="_blank" >http://dx.doi.org/10.1016/j.mechatronics.2013.12.005</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.mechatronics.2013.12.005" target="_blank" >10.1016/j.mechatronics.2013.12.005</a>

Result language
angličtina
Original language name
HOSIDF-based feedforward friction compensation in low-velocity motion control systems
Original language description
The paper describes an application of a recently introduced methodology for modeling of a class of nonlinear systems - Higher-Order Sinusoidal Input Describing Function technique (HOSIDF) - to a motion control platform for which a precisely controlled motion at low velocity is required. One of the key challenges for these systems is to compensate for the friction, which is particularly difficult to model at low velocities. The frequency-domain HOSIDF modeling framework is used to assist in designing a feedforward compensator. Experiments with a laboratory benchmark system (gimballed camera platform) prove the technique useful.
Czech name
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Czech description
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Type
J<sub>x</sub> - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)
CEP classification
BC - Theory and management systems
OECD FORD branch
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Project
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Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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