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JRM Vol.16 No.4 pp. 388-396
doi: 10.20965/jrm.2004.p0388
(2004)

Paper:

Torque Control in Harmonic Drives with Nonlinear Dynamic Friction Compensation

Rached Dhaouadi

Department of Electrical Engineering, School of Engineering, American University of Sharjah, P.O. Box 26666, Sharjah, UAE

Received:
December 27, 2003
Accepted:
July 13, 2004
Published:
August 20, 2004
Keywords:
nonlinear observer, nonlinear friction compensation, harmonic drive, hysteresis
Abstract

This paper proposes a nonlinear observer-based controller designed to compensate for friction in harmonic drives with hysteresis. Hysteresis in a harmonic drive is described by a nonlinear differential equation representing the combination of nonlinear stiffness and nonlinear friction. Nonmeasurable friction is derived using a nonlinear observer to provide asymptotic stability and position tracking. The performance of the proposed system is confirmed by computer simulation.

Cite this article as:
Rached Dhaouadi, “Torque Control in Harmonic Drives with Nonlinear Dynamic Friction Compensation,” J. Robot. Mechatron., Vol.16, No.4, pp. 388-396, 2004.
Data files:
References
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