Abstract: Development of velocity observers for mechanical systems with friction deserves a special emphasis, because as evidenced in numerical and experimental tests when a state-of-the-art observer is armed, friction can induce high-frequency oscillations in the estimated signal. In this short paper, two new velocity-observation algorithms are designed, based on this previously reported obser...

An adaptive control scheme for emergency braking of vehicles is designed based on a LuGre dynamic model for the tire/road friction. The wheel angular speed and longitudinal vehicle acceleration information are used to design an observerestimator for vehicle velocity, friction internal state and friction parameters. A Lyapunov-based stabilizing controller is designed to achieve near maximum brak...

This paper proposes a novel method to test the dynamic damping characteristics of valve. The testing system employs the vertical movement pattern, and has a suspension support structure. Force sensors are installed to measure the dynamic friction of the working valve directly. Making use of LuGre friction model and both adaptive genetic algorithm and chaos particle swarm optimization algorithm,...

The paper presents experimental results of friction parameter identification for two different systems: rotational arms of a direct-drive spherical manipulator and linear slide tables. Parameters of the static part of the LuGre friction model are estimated. Several experiments are reported in which selected friction compensation methods are employed for tracking at low velocities. Two compensat...

We investigate the origins of stick-slip friction by developing an asperitybased friction model based on the frictionless and lossless contact between a body and a row of rigid, rotating bristles attached to the ground by torsional springs and dashpots. This model exhibits hysteresis and quasi-stick-slip friction. The hysteretic energy-dissipation mechanism is the sudden release of the compress...

To realize the stable tracking control of optoelectronic stabilized platform system under nonlinear friction and external disturbance, an active disturbance rejection controller (ADRC) with compensation is proposed to improve target ability anti-disturbance performance. First, a LuGre observer designed estimate behavior preliminarily suppress interference torque on system. Then, ADRC introduced...

In this paper, a novel robust adaptive sliding-mode control scheme is presented high precision position control for a permanent magnet synchronous linear motor (PMSLM) servo system under the influence of unknown parameters, nonlinear friction, cogging forces, and external distance. The proposed strategy effectively combines the design techniques of adaptive control and sliding-mode control. In ...

A dynamic load simulator, which can reproduce on-ground aerodynamic hinge moment of control surface, is an essential rig for the performance and stability test aircraft actuation system. In this paper, observer-based backstepping adaptive (OBAC) strategy with improved friction model proposed to deal force tracking problem electro-mechanical actuator under influence nonlinear lumped disturbances...