Friction compensation as a fault-tolerant control problem

Patton, Ron J.; Putra, Devi; Klinkhieo, Supat

Abstract

The control of systems that involve friction presents interesting challenges. Recent research has focused on detailed modelling of friction phenomena in order to use robust on-line friction compensation procedures, attempting to cancel out the friction force effect in the feedback control of a mechanical or mechatronic system. However, the friction modelling problem remains a very difficult challenge and this article proposes a new approach to friction compensation which is based on the theory of robust fault estimation. The friction forces acting in a dynamic system can be viewed as actuator faults with time-varying characteristics to be estimated and compensated within an output feedback fault-tolerant control (FTC) scheme, so that the limitations arising from the use of a friction model are obviated. The friction (fault) estimation problem is hence embedded inside a control system with required stability, and performance robustness. This can be a significant advantage over well-known model-based friction compensation methods in which detailed modelling of friction phenomena is essential and for which robustness with respect to friction characteristics is difficult to achieve using non-linear models.

Citation

Patton, R. J., Putra, D., & Klinkhieo, S. (2010). Friction compensation as a fault-tolerant control problem. International Journal of Systems Science, 41(8), 987-1001. https://doi.org/10.1080/00207720903434797

• Journal Article Type: Article
• Acceptance Date: Oct 12, 2009
• Publication Date: Aug 1, 2010
• Deposit Date: Nov 13, 2014
• Journal: International Journal Of Systems Science
• Print ISSN: 0020-7721
• Electronic ISSN: 1464-5319
• Publisher: Taylor and Francis
• Peer Reviewed: Peer Reviewed
• Volume: 41
• Issue: 8
• Pages: 987-1001
• DOI: https://doi.org/10.1080/00207720903434797
• Keywords: fault estimation friction compensation sliding mode control sliding mode observers observers systems models, REF 2014 submission*
• Public URL: https://hull-repository.worktribe.com/output/463525
• Publisher URL: https://www.tandfonline.com/doi/abs/10.1080/00207720903434797