Compensation of Stick-Slip Phenomenon in an Electrical Actuator

R. Merzouki; J. C. Cadiou; N. K. M'Sirdi

doi:10.20965/jrm.2003.p0398

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JRM Vol.15 No.4 pp. 398-405

doi: 10.20965/jrm.2003.p0398

(2003)

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Compensation of Stick-Slip Phenomenon in an Electrical Actuator

R. Merzouki, J. C. Cadiou, and N. K. M'Sirdi

Laboratoire de Robotique de Versailles, France, 10-12, avenue de l'Europe 78140 Velizy

Received:

December 10, 2002

Accepted:

May 9, 2003

Published:

August 20, 2003

Keywords:

friction force, stick-slip effect, electrical actuator, adaptive control

Abstract

In mechanical systems involving low-speed motion, consisting of a succession of jumps and stops, as in trained wagons or manipulated robots, control usually exhibits error when the static friction force exceeds the dynamic friction force in what is known as the stick-slip effect. We developed a nonlinear observer to determine the friction force of contact during motion and to compensate for its effect. Simulation and experimental results show global convergence to equilibrium and good performance by the adaptive controller.

Cite this article as:

R. Merzouki, J. Cadiou, and N. K. M'Sirdi, “Compensation of Stick-Slip Phenomenon in an Electrical Actuator,” J. Robot. Mechatron., Vol.15, No.4, pp. 398-405, 2003.

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