A survey of models, analysis tools and compensation methods for the control of machines with friction

B Armstrong-Hélouvry, P Dupont, CC De Wit - Automatica, 1994 - Elsevier
While considerable progress has been made in friction compensation, this is, apparently, the
first survey on the topic. In particular, it is the first to bring to the attention of the controls …

Disturbance-observer-based nonlinear friction compensation in table drive system

M Iwasaki, T Shibata, N Matsui - IEEE/ASME transactions on …, 1999 - ieeexplore.ieee.org
Presents a disturbance-observer-based high-accuracy trajectory control algorithm for
nonlinear friction compensation in table drive systems. In order to design an effective …

Robust nonlinear stick-slip friction compensation

SC Southward, CJ Radcliffe, CR MacCluer - 1991 - asmedigitalcollection.asme.org
A nonlinear compensation force for stick-slip friction is developed to supplement a
proportional+ derivative control law applied to a one-degree-of-freedom mechanical system …

Robust nonlinear task space control for 6 DOF parallel manipulator

HS Kim, YM Cho, KII Lee - Automatica, 2005 - Elsevier
This paper presents a robust nonlinear controller equipped with a friction estimator for a 6
degree of freedom (DOF) parallel manipulator in the task space coordinates. The requisite 6 …

Fuzzy precompensation of PID controllers

JH Kim, SW Lee, KC Kim… - Proceedings of IEEE …, 1993 - ieeexplore.ieee.org
While PID controllers are widely used in industrial applications, they exhibit poor
performance when applied to systems containing unknown nonlinearities, such as …

PID control in the presence of static friction: A comparison of algebraic and describing function analysis

B Armstrong, B Amin - Automatica, 1996 - Elsevier
PID position control in the presence minimal Coulomb friction and non-zero static friction is
shown to lead to a frictional limit cycle for all stabilizing combinations of P, I and D …

Friction compensation in a controlled one-link robot using a reduced-order observer

N Mallon, N van de Wouw, D Putra… - IEEE Transactions on …, 2006 - ieeexplore.ieee.org
In this paper, friction compensation in a controlled one-link robot is studied. Since friction is
generally velocity dependent and controlled mechanical systems are often equipped with …

Analysis and model-based control of servomechanisms with friction

EG Papadopoulos… - J. Dyn. Sys., Meas …, 2004 - asmedigitalcollection.asme.org
Friction is responsible for several servomechanism limitations, and their elimination is
always a challenge for control engineers. In this paper, model-based feedback …

Friction induced hunting limit cycles: A comparison between the LuGre and switch friction model

RHA Hensen, MJG Van de Molengraft, M Steinbuch - Automatica, 2003 - Elsevier
In this paper, friction induced limit cycles are predicted for a simple motion system consisting
of a motor-driven inertia subjected to friction and a PID-controlled regulator task. The two …

On improving time-delay control under certain hard nonlinearities

PH Chang, SH Park - Mechatronics, 2003 - Elsevier
Time-delay control (TDC), owing to its simplicity and unusual performance against
parameter variations and disturbances, has been noted and recognized as a promising …