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Robustness evaluation of three friction compensation methods for point-to-point (PTP) positioning systems

Wahyudi, Martono and Sato, Kaiji and Shimokohbe, Akira (2005) Robustness evaluation of three friction compensation methods for point-to-point (PTP) positioning systems. Robotics and Autonomous Systems, 52 (2-3). pp. 247-256. ISSN 0921-8890

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Friction is one of the major contributing factors for problems associated with accuracy in positioning systems. The problem becomes more complicated because of variation of the friction. Due to this fact, the objective of this paper is to compare experimentally two control methods for point-to-point (PTP) positioning system in the presence of friction and its variation. The first controller is nominal characteristic trajectory following (NCTF) controller. The second controller is PD controller with smooth robust nonlinear feedback (SRNF) compensator. Two controllers are compared in terms of not only effectiveness of the controller to compensate the friction, but also robustness to inertia and friction variations. The results demonstrate that the NCTF controller is much more robust to inertia and friction variations than PID controller with SRNF compensator.

Item Type: Article (Journal)
Additional Information: 4116/31451
Uncontrolled Keywords: Positioning, point-to-point, friction, compensation, controller, robustness.
Subjects: T Technology > T Technology (General)
T Technology > TJ Mechanical engineering and machinery
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button): Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Nor Fathiah Jumiran (Part Time)
Date Deposited: 23 Sep 2013 12:40
Last Modified: 21 Jun 2017 10:28
URI: http://irep.iium.edu.my/id/eprint/31451

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