In servo control, traditionally, models that attempt to capture the friction-velocity curve and interactions at contacting surfaces have been used to compensate for friction-introduced tracking errors. Recently, however, extended Kalman-Bucy filter (EKBF)-based approaches that do not use a phenomenological or structured model for friction have been proposed. In addition to being cast as a friction estimator, the EKBF can also be used to provide parameter adaptation for simple friction models. In this paper, a traditional motor-driven inertia experiment is used to demonstrate the usefulness of EKBF in friction compensation. In addition, a numerical simulation is used to test the robustness of the new methods to normal force variations. Using root mean square position tracking error as the performance metric, comparisons to traditional model-based approaches are provided.
Skip Nav Destination
e-mail: ashokr@alum.dartmouth.org
Article navigation
March 2007
Technical Briefs
Comparison of EKBF-based and Classical Friction Compensation
Ashok Ramasubramanian,
Ashok Ramasubramanian
Thayer School of Engineering,
e-mail: ashokr@alum.dartmouth.org
Dartmouth College
, Hanover, NH 03755
Search for other works by this author on:
Laura R. Ray
Laura R. Ray
Search for other works by this author on:
Ashok Ramasubramanian
Thayer School of Engineering,
Dartmouth College
, Hanover, NH 03755e-mail: ashokr@alum.dartmouth.org
Laura R. Ray
J. Dyn. Sys., Meas., Control. Mar 2007, 129(2): 236-242 (7 pages)
Published Online: June 23, 2006
Article history
Received:
October 18, 2005
Revised:
June 23, 2006
Citation
Ramasubramanian, A., and Ray, L. R. (June 23, 2006). "Comparison of EKBF-based and Classical Friction Compensation." ASME. J. Dyn. Sys., Meas., Control. March 2007; 129(2): 236–242. https://doi.org/10.1115/1.2431817
Download citation file:
Get Email Alerts
Offline and Online Exergy-Based Strategies for Hybrid Electric Vehicles
J. Dyn. Sys., Meas., Control (May 2025)
Multi Combustor Turbine Engine Acceleration Process Control Law Design
J. Dyn. Sys., Meas., Control
A Distributed Layered Planning and Control Algorithm for Teams of Quadrupedal Robots: An Obstacle-Aware Nonlinear Model Predictive Control Approach
J. Dyn. Sys., Meas., Control (May 2025)
Active Data-Enabled Robot Learning of Elastic Workpiece Interactions
J. Dyn. Sys., Meas., Control (May 2025)
Related Articles
Visualization of the Contact Force Solution Space for Multi-Limbed Robots
J. Mech. Des (January,2006)
Dynamical Contact Problems with Friction: Models, Methods, Experiments and Applications. Lecture Notes in Applied Mechanics, Vol 3
Appl. Mech. Rev (January,2003)
Effect of Thermal Property Variation on Surface Grooving
J. Tribol (April,2002)
Modeling and Parameter Identification of Harmonic Drive Systems
J. Dyn. Sys., Meas., Control (December,1998)
Related Proceedings Papers
Related Chapters
Heat Generated in Pipe Flows Due to Friction
Everyday Heat Transfer Problems: Sensitivities to Governing Variables
Friction and Wear of Polymers and Composites
Tribology of Mechanical Systems: A Guide to Present and Future Technologies
Surface Analysis and Tools
Tribology of Mechanical Systems: A Guide to Present and Future Technologies