Journal of Control Engineering and Applied Informatics
Adaptive Friction Compensation In The Presence Of Backlash
Abstract
The behavior of motion control systems with adaptive friction and load compensation
algorithm in the presence of backlash is investigated. The applied controller is developed for trajectory
tracking tasks and it estimates on-line the nonlinear Stribeck friction. A simulation environment was
developed to analyze the effect of the backlash type nonlinearity on control performances. The transient
behavior and steady state tracking performances were determined for different backlash gap sizes.
algorithm in the presence of backlash is investigated. The applied controller is developed for trajectory
tracking tasks and it estimates on-line the nonlinear Stribeck friction. A simulation environment was
developed to analyze the effect of the backlash type nonlinearity on control performances. The transient
behavior and steady state tracking performances were determined for different backlash gap sizes.