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Adaptive friction compensations for mechanical systems with measurement delay
2020
Transactions of the Institute of Measurement and Control
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Hence, in this paper, Smith predictor-based controllers and an adaptive Coulomb friction observer are designed to enhance position tracking performance of a mechanical system including time delay. ...
To assure its functionality with delayed measurements, different velocity predictor schemes are designed and their performances are compared. ...
Hitay Ö zbay for his valuable ideas and support. ...
doi:10.1177/0142331220947568
fatcat:bwkceazrdbd2xfzvbpfvcugu34
Passivity-based adaptive delay compensation for real-time hybrid tests
2020
Proceedings of the Institution of mechanical engineers. Part I, journal of systems and control engineering
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Experimental results compare the performance of passivity-based adaptive delay compensation with that of a state-of-the-art adaptive delay compensation scheme based on position. ...
This scheme uses the energy added to the system by actuation hardware, to quantify a variable delay, which is subsequently used for delay compensation. ...
The response of the hybrid test with the application of an adaptive delay compensation scheme by Wallace et al. 7 is also shown for comparison. ...
doi:10.1177/0959651820945515
fatcat:xp7wbrkci5akrepjp5enpv4kse
Robust Adaptive Sliding-mode Control of a Permanent Magnetic Spherical Actuator with Delay Compensation
2020
IEEE Access
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This study proposes an adaptive robust sliding-mode control strategy with time delay compensation to address the issues of the inaccuracy of modeling, friction, uncertain disturbances, and time delay in ...
First, an improved linear predictor is designed to compensate for the time delay in position information. ...
CONCLUSION This study proposes an adaptive robust sliding-mode control system with delay compensation is proposed for the trajectory tracking control system of PMSA. ...
doi:10.1109/access.2020.3008152
fatcat:j35pwd2eabfqbpmk33mw2gdsbu
Motor State Prediction and Friction Compensation for Brushless DC Motor Drives Using Data-Driven Techniques
[article]
2024
arXiv
pre-print
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2023 pre-print arXiv:2311.16533v2 fatcat:5e4yabrxczab3gsqhtyatlitnuOther Versions
In addition, the model-based friction compensation scheme showed a relative increase in performance when compared with a system without friction compensation. ...
The resulting nonlinear motor model with friction characteristics was then validated using a feedback friction compensation algorithm. ...
and adaptive friction model-based compensation. ...
arXiv:2311.16533v4
fatcat:fla5v3tr2rdztp7ygcg44tdc5e
Observer based friction cancellation in mechanical systems
2014
2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)
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Hence, an adaptive nonlinear observer based friction compensation for a special time delayed system is presented in this thesis. ...
In real life feedback control applications of mechanical systems, friction and time delays are two important issues that might have direct effects on the performance of systems. ...
In this thesis, in order to handle mechanical systems with time delay, Smith predictor based controllers, combined with an adaptive Coulomb observer, are employed. ...
doi:10.1109/iccas.2014.6987950
fatcat:qasgi7m7rna4lo22xu4c4si27e
Adaptive positioning control of an ultrasonic linear motor system
2017
Robotics and Computer-Integrated Manufacturing
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The results demonstrated that the constant feedforward with integral separation PID algorithm can compensate for the time-invariant system after identifying the dead-zone depth, while the adaptive feedback ...
For the dead-zone nonlinearity caused by the static friction, the adaptive feedback and feedforward algorithm can effectively improve the trajectory tracking accuracy. ...
However, the static friction is usually time varying and uncertain, so the adaptive compensator is more suitable for the static friction compensation. ...
doi:10.1016/j.rcim.2016.08.011
fatcat:k6zktgu6m5ch3csireksqpj73q
Delay compensation in Shared Haptic Virtual Environments
2014
2014 IEEE Haptics Symposium (HAPTICS)
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In this paper, we systematically analyze the loss of transparency caused by communication delay and propose a novel adaptive force rendering scheme to compensate for it. ...
Simulations and subjective evaluations show that the effect of increased weight of objects is successfully compensated for the tested delay range of up to 150 ms. ...
The different delay settings are evaluated together with the original and static delay compensation (Eq. (9) with b = 76.23 Ns/m, denoted as compensation 1) and the enhanced and adaptive compensation ( ...
doi:10.1109/haptics.2014.6775484
dblp:conf/haptics/SchuwerkCS14
fatcat:5gal532e3zdlvddubynvinug6e
Improved transparency in energy-based bilateral telemanipulation
2012
Mechatronics (Oxford)
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As long as the physically dissipated energy is underestimated, the telemanipulation system as a whole will remain passive. ...
This can severely decrease the obtainable transparency of these algorithms when high amounts of friction are present in the slave device. ...
Acknowledgements The authors thank Roel Metz and Marcel Schwirtz for their contribution in the realization of the experimental test setup. ...
doi:10.1016/j.mechatronics.2011.11.004
fatcat:aejpmdfz2jhdpf2halda6aq4ym
Real-Time Hybrid Simulation of Seismically Isolated Structures with Full-Scale Bearings and Large Computational Models
2019
CMES - Computer Modeling in Engineering & Sciences
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The adaptation of a full-scale bearing test machine for the implementation of real-time hybrid simulation is presented here with a focus on the challenges encountered in attaining reliable simulation results ...
Friction and inertial forces generated by the large-scale loading apparatus can affect the accuracy of measured force feedbacks. ...
The authors are grateful for this financial support. The authors are grateful for the assistance of various experts on earthquake engineering including Professor James Kelly and Dr. Frank McKenna. ...
doi:10.32604/cmes.2019.04846
fatcat:ptoorsqtcrgn5a5gkcs6wwim5u
Implementation, control and user-feedback of the Int2Bot for the investigation of lower limb body schema integration
2014
The 23rd IEEE International Symposium on Robot and Human Interactive Communication
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The computed torque control achieves good tracking results and fuzzy-based friction compensation further reduces position errors by up to 50%. ...
Yet, results considering the vision-based part of the human-robot interface show that the setup is mainly limited due to delays in motion acquisition with the RGB-D sensor. ...
KG and National Instruments Germany for donations. ...
doi:10.1109/roman.2014.6926335
dblp:conf/ro-man/BeckerleSWC14
fatcat:7kt24ejbrffrvbgnlqggpz7nxe
Adaptive control of a single-link flexible manipulator
1990
Control Systems Magazine
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Compensation for changes in load is achieved by decoupling the dynamics of the system and then applying a very simple adaptive control for the tip position. ...
Both linear and nonlinear frictions are overcome by using a very robust control scheme for flexible manipulators. ...
(1) To simplify the design of the inner loop, the system described in Eq. (1) can be linearized by compensating for the Coulomb friction and decoupled from the dynamics of the beam by compensating for ...
doi:10.1109/37.45791
fatcat:knuaxx7fqffkbmdxbfsi53xlie
Improving the tracking performance of mechanical systems by adaptive extended friction compensation
1993
Control Engineering Practice
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The paper discusses a tracking control system and shows with simulation and experimental results that extended friction models can be successfully incorporated in a computed-torque-like adaptive control ...
To get small tracking errors, adaptation of the friction model parameters is necessary. The tracking performance is an order of magnitude better than with PD control. ...
In general, friction is a limiting factor for the tracking performance of mechanical control systems. ...
doi:10.1016/0967-0661(93)90011-f
fatcat:yxgqzmfi2bcdjpgh62rboaf3oa
Improving the tracking performance of mechanical systems by adaptive extended friction compensation
1995
Control Engineering Practice
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The paper discusses a tracking control system and shows with simulation and experimental results that extended friction models can be successfully incorporated in a computed-torque-like adaptive control ...
To get small tracking errors, adaptation of the friction model parameters is necessary. The tracking performance is an order of magnitude better than with PD control. ...
In general, friction is a limiting factor for the tracking performance of mechanical control systems. ...
doi:10.1016/0967-0661(95)90137-x
fatcat:afqp5tshf5acxlznfl63hsn4ay
Friction Models and Friction Compensation
1998
European Journal of Control
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Friction is also very important for the control engineer, for example in design of drive systems, high-precision servo mechanisms, robots, pneumatic and hydraulic systems and anti-lock brakes for cars. ...
Introduction Friction occurs in all mechanical systems,e.g. bearings, transmissions, hydraulic and pneumatic cylinders, valves, brakes and wheels. ...
and adaptive scheme for friction compensation. ...
doi:10.1016/s0947-3580(98)70113-x
fatcat:ovz24bxowrarbcosdxv2fscwga
HYDROSTATIC TRANSMISSIONS FOR WHEEL LOADERS-AN EXPERIMENTAL STUDY OF AMULTIPLE-MOTOR CONCEPT
1999
Proceedings of the JFPS International symposium on fluid power
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The need to measure and compensate for pressure changes is obvious. There might also be reasons to compensate the control for changes in the friction. ...
A black-box model of the engine can be described with a gain, a delay and a first-order low-pass filter, as can the governor, except for the delay [3] . ...
doi:10.5739/isfp.1999.499
fatcat:cjkb3zw3tbfs5dj3subizwcmoy
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