Output details
15 - General Engineering
University of Hull
Friction compensation as a fault-tolerant control problem
Friction acting in the bearings of controlled mechatronic systems can be viewed as a type of actuator or input fault. Fault compensation systems have been reported previously, but all are complex, requiring friction modelling. This paper describes friction compensation in a novel manner as a fault tolerant control (FTC) system using sliding estimation/control, with the control law adapting to the bounding (static) friction value. Employment in a non-linear inverted pendulum system clearly shows how oscillation magnitudes can be reduced by using this FTC approach. Application in robotics will improve control system accuracy by reducing the effects of manipulator joint friction.