2014
DOI: 10.1109/iccas.2014.6987950
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Caner Odabas, Omer Morgul

Abstract: In real life feedback control applications of mechanical systems, friction and time delays are two important issues that might have direct effects on the performance of systems. Hence, an adaptive nonlinear observer based friction compensation for a special time delayed system is presented in this thesis. Considering existing delay, an available Coulomb observer is modified and closed loop system is formed by using a Smith predictor based controller as if the process is delay free. Implemented hierarchical fe…

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