Dynamic Friction Characterization of a Linear Servo Motor Using an Optimal Sinusoidal Reference Tracking Controller
Danial Waleed, Hafiz M. Usman, and Rached Dhaouadi
American University of Sharjah
P.O. Box 26666 Sharjah, United Arab Emirates
This letter presents the design of an optimal sinusoidal tracking and disturbance rejection controller for a linear voice-coil motor. The optimal tracking and disturbance rejection system is used to characterize the nonlinear dynamic friction of the servo motor. The control scheme allows investigating the hysteresis characteristics of friction as a function of frequency. Experimental results indicate the effectiveness of the proposed identification procedure for the dynamic friction estimation.
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