Disturbance Observer-Based Nonlinear Friction Compensation in Servo Drive System

摘要

Solid friction in various machines is one of dominant nonlinearities limiting the control performance of servo drive systems. Nonlinear friction gives tracking errors and undesired stick-slip motion due to stiction (breakaway friction) and/or Stribeck effect. A wide variety of studies have been reported, which formulated nonlinear friction models, identified its parameters, and compensated for the friction.