Title: Adaptive friction compensation for a position control system with Stribeck friction using hybrid unscented Kalman filter

Authors: Sarot Srang; Masaki Yamakita

Addresses: Department of Mechanical and Control Systems Engineering, Tokyo Institute of Technology, Tokyo, 152-8552, Japan ' Department of Mechanical and Control Systems Engineering, Tokyo Institute of Technology, Tokyo, 152-8552, Japan

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.

Keywords: friction compensation; adaptive control; continuous-discrete unscented Kalman filters; CDUKF; hybrid unscented Kalman filters; position control; Stribeck friction; viscous friction; simulation; torque control; DC motors; modelling; PID controllers.

DOI: 10.1504/IJICT.2013.054936

International Journal of Information and Communication Technology, 2013 Vol.5 No.3/4, pp.283 - 295

Received: 08 Dec 2012
Accepted: 10 Jan 2013
Published online: 19 Dec 2013 *

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