Paper Info
Title
Discrete-Time Elasto-Plastic Friction Estimation
Abstract
For control applications involving small displace- ments and velocities, friction modeling and compensation can be very important, especially around velocity reversal. We previously described single-state friction models that are based on elasto- plastic presliding, something that reduces drift while preserving the favorable properties of existing models (e.g., dissipativity) and that provide a comparable match to experimental data. In this paper, for this class of models, discrete estimation for friction force compensation is derived. The estimator uses only position and velocity (not force) measurements and integrates over space rather than time, yielding a discrete-time implementation that is robust to issues of sample size and sensor noise, reliably renders static friction and is computationally efficient for real-time imple- mentation. Boundedness with respect to all inputs, convergence during steady sliding and dissipativity are established for the discrete-time formulation.
Year
DOI
Venue
2009
10.1109/TCST.2008.2001710
Control Systems Technology, IEEE Transactions
Keywords
Field
DocType
discrete time systems,mechanical variables control,stiction,discrete-time friction estimation,displacement control,elasto-plastic friction estimation,elasto-plastic presliding,friction force compensation,single-state friction models,static friction,velocity reversal,Discrete-time control,friction compensation,friction estimation,friction modeling,mechanical systems,presliding
Convergence (routing),Space time,Noise measurement,Control theory,Control engineering,Discrete time and continuous time,System identification,Stiction,Mechanical system,Mathematics,Estimator
Journal
Volume
Issue
ISSN
17
3
1063-6536
Citations 
PageRank 
References 
5
0.61
10
Authors
4
Name
Order
Citations
PageRank
Vincent Hayward11343172.28
Brian S. R. Armstrong250.61
Friedhelm Altpeter350.61
Dupont, Pierre4222.01