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This paper presents an observer-based friction compensation design for a class of frictional systems guaranteeing global exponential stability of the closed-loop system in the absence of velocity measurements. The friction compensation scheme allows a fairly general discontinuous friction model that is able to describe stiction and the Stribeck effect, and which can fit experimentally obtained velocity-friction maps. The design method is based on passivity theory. It only involves well-known linear design criteria: strictly positive real (SPR) and Hurwitz conditions, and it preserves the separation and the certainty equivalence principles. The effectiveness of the design method is tested on an experimental setup.
Decision and Control, 2004. CDC. 43rd IEEE Conference on (Volume:5 )
Date of Conference: 14-17 Dec. 2004