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Design Innovation Paper

On the Model-Free Compensation of Coulomb Friction in the Absence of the Velocity Measurement

[+] Author and Article Information
Mingwei Sun

Associate Professor, College of Computer and Control Engineering, Nankai University, Tianjin, 300071 China
smw_sunmingwei@163.com

Zhiqiang Gao

Associate Professor, Center for Advance Control Technologies, Department of Electrical and Computer Engineering, Cleveland Sate University, Cleveland, OH 44115
z.gao@ieee.org

Zenghui Wang

Professor, Department of Electrical and Mining Engineering, University of South Africa, Florida 1710, South Africa
wangzengh@gmail.com

Yuan Zhang

Graduate Student, College of Computer and Control Engineering, Nankai University, Tianjin, 300071 China
602783310@qq.com

Zengqiang Chen

Professor, College of Computer and Control Engineering, Nankai University, Tianjin, 300071 China
chenzq@nankai.edu.cn

1Corresponding author.

ASME doi:10.1115/1.4037267 History: Received November 17, 2014; Revised June 07, 2017

Abstract

This paper demonstrates that the Coulomb friction, the most difficult part of friction to be compensated because of its discontinuity with respect to the velocity, can be precisely compensated without either its mathematical model or a velocity measurement, as commonly required in the literature. Instead, the necessary information needed in the friction compensation is obtained in real time from an extended state observer in the context of a common proportional-derivative motion control system, using the proposed linear reference compensation scheme. The robustness of the observer design to the time-delay uncertainty resulting from model reduction is thoroughly investigated, which illustrates the extent to which a high bandwidth can be employed to achieve favorable dynamic performance. Finally, numerical examples are provided to validate the proposed method.

Copyright (c) 2017 by ASME
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