About: HOSIDF-based feedforward friction compensation in low-velocity motion control systems     Goto   Sponge   Distinct   Permalink

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Description
  • The paper describes an application of a recently introduced methodology for modeling of a class of nonlinear systems - Higher-Order Sinusoidal Input Describing Function technique (HOSIDF) - to a motion control platform for which a precisely controlled motion at low velocity is required. One of the key challenges for these systems is to compensate for the friction, which is particularly difficult to model at low velocities. The frequency-domain HOSIDF modeling framework is used to assist in designing a feedforward compensator. Experiments with a laboratory benchmark system (gimballed camera platform) prove the technique useful.
  • The paper describes an application of a recently introduced methodology for modeling of a class of nonlinear systems - Higher-Order Sinusoidal Input Describing Function technique (HOSIDF) - to a motion control platform for which a precisely controlled motion at low velocity is required. One of the key challenges for these systems is to compensate for the friction, which is particularly difficult to model at low velocities. The frequency-domain HOSIDF modeling framework is used to assist in designing a feedforward compensator. Experiments with a laboratory benchmark system (gimballed camera platform) prove the technique useful. (en)
Title
  • HOSIDF-based feedforward friction compensation in low-velocity motion control systems
  • HOSIDF-based feedforward friction compensation in low-velocity motion control systems (en)
skos:prefLabel
  • HOSIDF-based feedforward friction compensation in low-velocity motion control systems
  • HOSIDF-based feedforward friction compensation in low-velocity motion control systems (en)
skos:notation
  • RIV/68407700:21230/14:00225598!RIV15-MSM-21230___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
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http://linked.open...iv/cisloPeriodika
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http://linked.open...aciTvurceVysledku
http://linked.open.../riv/druhVysledku
http://linked.open...iv/duvernostUdaju
http://linked.open...titaPredkladatele
http://linked.open...dnocenehoVysledku
  • 19703
http://linked.open...ai/riv/idVysledku
  • RIV/68407700:21230/14:00225598
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • Feedforward; Friction compensation; Low-velocity motion control; Frequency domain techniques (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...odStatuVydavatele
  • NL - Nizozemsko
http://linked.open...ontrolniKodProRIV
  • [E970C6A81BF8]
http://linked.open...i/riv/nazevZdroje
  • Mechatronics
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...UplatneniVysledku
http://linked.open...v/svazekPeriodika
  • 24
http://linked.open...iv/tvurceVysledku
  • Salášek, Jan
  • Ucun, L.
http://linked.open...ain/vavai/riv/wos
  • 000333796300005
issn
  • 0957-4158
number of pages
http://bibframe.org/vocab/doi
  • 10.1016/j.mechatronics.2013.12.005
http://localhost/t...ganizacniJednotka
  • 21230
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