Professor Ron Patton R.J.Patton@hull.ac.uk
Emeritus Professor of Control and Intelligent Systems Engineering
Professor Ron Patton R.J.Patton@hull.ac.uk
Emeritus Professor of Control and Intelligent Systems Engineering
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. 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 |
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 |
Contract Date | Nov 13, 2014 |
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