A Disturbance Observer Based Nonlinear Controller for Friction Compensation in a Servomechanism
نویسندگان
چکیده
In this paper, a disturbance observer based controller is proposed for the compensation of nonlinear friction in a servodrive system. The designed nonlinear controller uses the estimated system states (position, velocity) and disturbance to enhance tracking performance of the servodrive using high stiff gains for the compensation of the effects of nonlinear friction. The effectiveness of this disturbance observer is demonstrated under simulations. Key-Words: disturbance observer, disturbance rejection for friction compensation, stiffness control.
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