- Tytuł:
- Friction compensation in nonlinear dynamical systems using fault-tolerant control methods
- Autorzy:
-
Bonfè, M.
Castaldi, P.
Preda, N.
Simani, S. - Powiązania:
- https://bibliotekanauki.pl/articles/327170.pdf
- Data publikacji:
- 2013
- Wydawca:
- Polska Akademia Nauk. Polskie Towarzystwo Diagnostyki Technicznej PAN
- Tematy:
-
fault-tolerant control
friction compensation
nonlinear systems
differential geometry - Opis:
- This paper describes the application of differential geometry and nonlinear systems analysis to the estimation of friction effects in a class of mechanical systems. The proposed methodology relies on adaptive filters, designed with a nonlinear geometric approach to obtain the disturbance de-coupling property, for the estimation of the friction force. Thanks to accurate estimation, friction effects are compensated by injecting the on-line estimate of friction force to the control action calculated by a standard linear state feedback. The inverted pendulum on a cart is considered as an application example and the proposed approach is compared with a commonly used friction compensation strategy, based on an explicit model of the friction force.
- Źródło:
-
Diagnostyka; 2013, 14, 4; 13-19
1641-6414
2449-5220 - Pojawia się w:
- Diagnostyka
- Dostawca treści:
- Biblioteka Nauki