Compensation of Stribeck-Type Nonlinear Friction in Positioning Control Using Equivalent-Input-Disturbance Approach
Qi Shi*1, Liyu Ouyang*2, Jinhua She*3,
Li Xu*4, Junya Imani*3, and Yasuhiro Ohyama*3
*1Graduate School of Bionics, Computer and Media Sciences, Tokyo University of Technology, 1404-1 Katakura, Hachioji, Tokyo 192-0982, Japan
*2School of Information Science and Engineering, Central South University, Yuelu Mountain, Changsha, Hunan 410083, China
*3School of Computer Science, Tokyo University of Technology, 1404-1 Katakura, Hachioji, Tokyo 192-0982, Japan
*4Department of Electronics and Information Systems, Akita Prefectural University, 84-4 Ebinokuchi, Tsuchiya, Yuri-Honjo, Akita 015-0055, Japan
A method of compensating for Stribeck-type nonlinear friction torque for a two-mass mechatronic system has been devised based on the equivalent-inputdisturbance (EID) approach. The nonlinearity in the system is treated as an input-dependent disturbance, and an EID estimator is designed that estimates it. The incorporation of the estimate into the control input compensates for the nonlinearity. Simulation results demonstrate the validity of the method and show that the compensation accuracy is closely related to the time constant of the low-pass filter.
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