Nonlinear friction compensation in harmonic drives with hysteresis

In this paper, a new nonlinear observer-based controller is designed for the compensation of friction in harmonic drive systems with hysteresis. The hysteresis phenomenon in a harmonic drive system is described by a nonlinear differential equation representing the combination of nonlinear stiffness...

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Bibliographic Details
Published inProceedings 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003) Vol. 1; pp. 278 - 283 vol.1
Main Author Dhaouadi, R.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2003
Subjects
Control systems
Friction
Gears
Hysteresis
Mathematical model
Nonlinear control systems
Observers
Servomechanisms
State estimation
Torque control
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Summary:In this paper, a new nonlinear observer-based controller is designed for the compensation of friction in harmonic drive systems with hysteresis. The hysteresis phenomenon in a harmonic drive system is described by a nonlinear differential equation representing the combination of nonlinear stiffness and nonlinear friction. An estimate of the non-measurable friction state is derived using a nonlinear observer structure to provide for asymptotic stability and position tracking. The performance of the proposed system is validated by computer simulation.
ISBN:0780377591
9780780377592
DOI:10.1109/AIM.2003.1225108