Coulomb friction identification for mechatronic servo systems with limited strokes using two reference inputs

Andoh, Fukashi

doi:10.1109/coase.2008.4626468

Cited by 4 publications

References 26 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

Sliding mode control of a permanent magnet direct drive under non‐linear friction

Brock

2011

COMPEL - The International Journal for Computation and Mathematics in Electrical and Electronic Engineering

View full text Add to dashboard Cite

Purpose -The purpose of this paper is to find a simple structure of motion controller for permanent magnet direct drive. Application of sliding mode controller theory and equivalent disturbance estimator creates proper non-linear characteristics, which ensures controller robustness against friction. Design/methodology/approach -The position and speed controller is based on robust design methodology introduced by a sliding mode technique. The paper proposes a combination of sliding mode controller and proportional integral (PI) equivalent disturbance estimator. The friction model is Coulomb friction with a large static friction effect. The double boundary layer is used to compensate the effect of stiction. The synthesis is performed using simulation techniques and subsequently the behaviour of a laboratory speed control system is validated in the experimental setup. The control algorithms of the system are performed by a microprocessor floating point DSP control system. Findings -The proposed sliding mode controller structure with equivalent disturbance estimator guarantees expected robustness against friction. Experimental results show that the control approach can decrease the tracking error, enhance the system's robustness and attenuate high-frequency chattering in the control signal.Research limitations/implications -The proposed controller was tested on a single machine under well-defined conditions. Further investigations are required before any industrial applications. Practical implications -The proposed controller synthesis and its results may be very helpful in robotic systems where non-linear friction is a characteristic for many industrial robots and manipulators. Originality/value -The method of sliding mode controller synthesis was proposed and validated by simulation and experimental investigations.

show abstract

Sliding mode control of a permanent magnet direct drive under non‐linear friction

Brock

2011

COMPEL - The International Journal for Computation and Mathematics in Electrical and Electronic Engineering

View full text Add to dashboard Cite

show abstract

Preventing Catastrophic Forgetting using Prior Transfer in Physics Informed Bayesian Neural Networks

Heck

Coene

Crevecoeur

2022

2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

View full text Add to dashboard Cite

Predictive models can be integrated in the sensing and monitoring methodologies of mechatronic systems in operation. When systems change or are subject to varying operating conditions, adaptivity of the models is needed. The goal of this paper is to enable this adaptivity by presenting a framework for continual learning. The framework aims to transfer and remember information from previously learned systems when a model is updated to new operating conditions. We achieve this by means of the following three key mechanisms. We first include physical information about the system, heavily regularizing the model output. Secondly, the usage of epistemic uncertainty, used as an indicator of the changing system, shows to what extend a transfer is desired. Last but not least the usage of a prior within a Bayesian framework allows to regularize models further according to previously obtained information. The last two principles are enabled thanks to the use of Bayesian neural networks. The methodology will be applied to a camfollower system in a simulation environment, where results show that previously trained systems are better remembered with an increase of 72% compared to normal training procedures.

show abstract

Sliding mode controller for direct drive with dry friction

Brock¹

2016

View full text Add to dashboard Cite

Coulomb friction identification for mechatronic servo systems with limited strokes using two reference inputs

Cited by 4 publications

References 26 publications

Sliding mode control of a permanent magnet direct drive under non‐linear friction

Sliding mode control of a permanent magnet direct drive under non‐linear friction

Preventing Catastrophic Forgetting using Prior Transfer in Physics Informed Bayesian Neural Networks

Sliding mode controller for direct drive with dry friction

Contact Info

Product

Resources

About