Output details
15 - General Engineering
University of Hull
Article title
Friction compensation as a fault-tolerant control problem
Type
D - Journal article
Title of journal
International Journal Of Systems Science
Article number
-
Volume number
41
Issue number
8
First page of article
987
ISSN of journal
0020-7721
Year of publication
2010
URL
-
Number of additional authors
2
Additional information
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.
Interdisciplinary
-
Cross-referral requested
-
Research group
None
Proposed double-weighted
No
Double-weighted statement
-
Reserve for a double-weighted output
No
Non-English
No
English abstract
-
