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


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

December 27, 2003
July 13, 2004
August 20, 2004
nonlinear observer, nonlinear friction compensation, harmonic drive, hysteresis
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:
R. Dhaouadi, “Torque Control in Harmonic Drives with Nonlinear Dynamic Friction Compensation,” J. Robot. Mechatron., Vol.16 No.4, pp. 388-396, 2004.
Data files:
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