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Original Articles

Friction compensation as a fault-tolerant control problem

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Pages 987-1001 | Received 15 Dec 2008, Accepted 12 Oct 2009, Published online: 22 Jul 2010
 

Abstract

The control of systems that involve friction presents interesting challenges. Recent research has focused on detailed modelling of friction phenomena in order to use robust on-line friction compensation procedures, attempting to cancel out the friction force effect in the feedback control of a mechanical or mechatronic system. However, the friction modelling problem remains a very difficult challenge and this article proposes a new approach to friction compensation which is based on the theory of robust fault estimation. The friction forces acting in a dynamic system can be viewed as actuator faults with time-varying characteristics to be estimated and compensated within an output feedback fault-tolerant control (FTC) scheme, so that the limitations arising from the use of a friction model are obviated. The friction (fault) estimation problem is hence embedded inside a control system with required stability, and performance robustness. This can be a significant advantage over well-known model-based friction compensation methods in which detailed modelling of friction phenomena is essential and for which robustness with respect to friction characteristics is difficult to achieve using non-linear models.

Acknowledgement

S. Klinkhieo acknowledges the PhD scholarship funding from the Synchrotron Light Research Institute (SLRI) under the Royal Thailand Government.

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