IEEE - Institute of Electrical and Electronics Engineers, Inc. - Adaptive friction compensation using the GMS model with polynomial stribeck function

2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control

Author(s): I. Nilkhamhang ; A. Sano
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 October 2006
Conference Location: Munich, Germany
Conference Date: 4 October 2006
Page(s): 1,085 - 1,090
ISBN (CD): 0-7803-9797-5
DOI: 10.1109/CACSD-CCA-ISIC.2006.4776795
Regular:

An adaptive friction compensator is proposed using the generalized Maxwell-slip (GMS) friction model, with a new, linearly-parameterized Stribeck function. It employs a polynomial equation... View More

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