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Friction compensation as a fault-tolerant control problem

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


Devi Putra

Supat Klinkhieo


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.


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.

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
Keywords fault estimation friction compensation sliding mode control sliding mode observers observers systems models, REF 2014 submission*
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