Adaptive friction compensation for a position control system with Stribeck friction using hybrid unscented Kalman filter Online publication date: Thu, 19-Dec-2013
by Sarot Srang; Masaki Yamakita
International Journal of Information and Communication Technology (IJICT), Vol. 5, No. 3/4, 2013
Abstract: This paper considers an application of continuous-discrete unscented Kalman filter (or hybrid UKF) to estimate state and friction for a position control system with Stribeck + viscous friction. Adaptive compensation of friction is integrated to the system. The coefficients of Stribeck curve are estimated online from joint state and parameter model by using hybrid UKF algorithm. To select sampling time appropriately for estimator, the stability and accuracy at low velocity of deterministic system are analysed. This paper finally presents the simulation results of a torque-controlled DC motor model to illustrate the performance of the position control system with PID controller using friction compensation since conventional PID controller are easily modified. The results show that the system with friction compensation exhibits a much better performance.
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